Omron NJ501-4300, Руководство пользователя

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2 Features of NJ Robotics CPU Unit
2 - 16 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
• The kinematics parameters for Delta3R are the same as Delta3.
• A wrist axis must be controlled as a single axis in Delta3 kinematics.
In Delta3R kinematics, the robot instructions control the wrist axis as a part of the axes group (4
axes).
• θ parameter (Angle Offset) enables to rotate (around Z) default MCS of the robot to be aligned
with the desired Coordinate System to be used when defining robot kinematics.
Precautions for Correct Use
If you select a robot tool in Delta3R kinematics, the wrist axis is controlled as a part of the axes
group. This means that the wrist axis may operate unexpectedly.
The 0 ° for the wrist axis is located in the direction of X axis of the machine coordinate system
(MCS). Note that if you rotate the machine coordinate system around Z axis with the parameter
θ , the 0 ° position of the wrist axis will also be rotated.
 Setting for Delta2
Set the following parameters for Delta2.
• You cannot use the wrist axis in Delta2.
Parameter Description
Rf The distance between the center of fixed frame and the axis motor
Radius (unit: mm)
Rm The distance between the center of moving frame and the joint of link 2
Radius (unit: mm)
Lf The length of link 1 (unit: mm)
Lm The length of link 2 (unit: mm)
θ The origin position for rotation around Z axis of the machine coordinate sys-
tem. This parameter is used for axis adjustment. (unit: degree)
Parameter Description
Rf The distance between the center of fixed frame and the axis motor Radius
(unit: mm)
Rm The distance between the center of moving frame and the joint of link 2
Radius (unit: mm)
Lf The length of link 1 (unit: mm)
Lm The length of link 2 (unit: mm)
Rf
Rm
Lf
Lm