Omron NJ501-4300, Руководство пользователя

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3 Setting Robot Functions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
3-
1 Sett
ing G
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bot
3
3-
1-3 Axis Settings
The Axis Basic Settings are used to set whether to use the axis. If you use the axis, set the axis type
and the node address of the EtherCAT slave device.
These parameters set position units.
These parameters set items for axis operation, such as the maximum velocity and maximum accelera-
tion/deceleration rate. Set them according to the specifications of the device you control.
The following table shows the list of parameters used for robot control.
Axis Basic Settings
Parameter name Setting Set value
Axis Use Set whether to enable or disable the axis. Select Used axis .
Axis type Set the axis type. Select Servo axis or Virtual servo axis .
Input device Specify the node address of the EtherCAT slave
device that is assigned to the axis. Select the node address of the servo
axis.
Unit Conversion Settings
Parameter name Setting Set value
Unit of Display Select the display unit. Select as the following table, according
to the intended kinematics type.
Command Pulse
Count Per Motor
Rotation Set the number of command pulses per motor
rotation according to the encoder resolution.
*1
*1. For example, if the encoder resolution is 10,000 pulses per rotation, set 10,000.
Set the value according to the robot
specification.
Work Travel Dis-
tance Per Motor
Rotation Set the workpiece travel distance per motor rota-
tion according to the machine specifications.
*2
*2. When using H-Bot kinematics type, the radius of the pulley must be considered.
Axis in the
AxesGroup
Kinematics type
Delta3 Delta3R Delta2
Cartesian
3D
Cartesian
3D-Gantry
Cartesian
2D
Cartesian
2D-Gantry
H-Bot
A0 degree degree degree mm mm mm mm mm
A1 degree degree degree mm mm mm mm mm
A2 degree degree - mm mm - mm -
A3 - degree - - mm - - -
Operation Settings
Parameter name Setting Set value
Maximum Velocity
Set the maximum velocity for each axis.
*1 Set the value according to the robot
specification.
Maximum Jog
Velocity
Set the maximum jog velocity for the axis.
*2
Maximum Acceler-
ation Set the maximum acceleration rate for an axis
operation command.