![background image](http://html1.mh-extra.com/html/omron/nj501-4300/nj501-4300_manual_742408071.webp)
2 - 21
2 Features of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
2-3 Ro
bo
t F
unc
tion
s
2
2
-3-1
K
inematics Setting
Setting for Cartesian 2D Gantry
Set the following parameters for Cartesian 2D Gantry.
Gantry kinematics is based on the assumption that two linked axes (A0 and A1) are perfectly
aligned and equal. But in the actual robot, there is always a difference in positions between the two
linked axes of the gantry, A0 and A1.
Setting for Cartesian 3D Gantry
on page 2-18 to prevent possible problems.
Precautions for Correct Use
• When using Cartesian 2D Gantry Kinematics, you have to configure parameters
Err1
and
Err2
. Those default values are 0, but cannot be used.
• Program to stop the robot if MC_GroupMon returns FALSE in
Valid
output because of actual
position error |A0-A1|.
Parameter
Description
OffX
The distance on X between MCS origin and TCP when all axes are 0 (unit:
mm)
OffY
The distance on Y between MCS origin and TCP when all axes are 0 (unit:
mm)
Err1
The maximum acceptable error of commanded positions between axes A0
and A1 (absolute value) (unit: mm)
Err2
The maximum acceptable error of actual positions between axes A0 and A1
(absolute value) (unit: mm)
A 2
A 0
Machine coordinate
s
ystem (MCS)
Xm
Ym
Zm
X
Y
Z
(OffX, OffY, 0)
Position of TCP
when all axes are 0
Содержание NJ501-4300
Страница 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Страница 335: ......