Omron NJ501-4300, Руководство пользователя

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2 Features of NJ Robotics CPU Unit
2 - 30 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Precautions for Correct Use
User coordinate systems (UCS) are set in relation with a machine coordinate system (MCS).
If you re-execute the MC_SetKinTransform (Set Kinematics Transformation) instruction for a
robot, you must re-define all user coordinate systems for the robot.
Use the MC_DefineCoordSystem (Define Coordinate) instruction to set user coordinate sys-
tems.
You can monitor the following robot information.
• The command current position and the actual current position of TCP in the selected coordinate
system for the selected robot tool
• The actual current velocity of TCP in the selected coordinate system for the selected robot tool,
and the actual current velocity in the directions of X axis, Y axis and Z axis
Use the MC_GroupMon (Group Monitor) instruction to monitor the information. Refer to MC_GroupMon
on page 4-23 for details on the MC_GroupMon (Group Monitor) instruction.
This function moves the robot from the current position to the set target position (X, Y, Z, Rx, Ry, Rz) in
the specified time.
A robot could be moved using a polynomial function (3rd degree) or an Universal CAM Curve function
for each Cartesian coordinate; it generates a linear movement in 3D Cartesian space.
• Polynomial 3 curve. It uses a simple 3rd degree polynomial to interpolate the path between initial
position and final position.
• Modified sine curve. It is based on a combination of sinusoidal trajectories. It allows controlling
acceleration and belongs to Universal CAM Curve family.
• Modified constant velocity curve. It is based on combination of sinusoidal and linear trajectories. It
has a constant velocity during one half of trajectory time. It belongs to Universal CAM Curve family.
Use this function to move the robot to a desired position.
Use the MC_MoveTimeAbsolute (Time-specified Absolute Positioning) instruction to move the robot
with this function.
Refer to MC_MoveTimeAbsolute on page 4-29 for details on the MC_MoveTimeAbsolute (Time-speci-
fied Absolute Positioning) instruction.
2-3-4 Monitoring
2-3-5 Time-specified Absolute Positioning
Zu, Zu1
+
Yu
Yu1
Rz
Rz Xu
Xu1
Yu1, Yu2
+
Xu1
Xu2
Ry
Ry
Zu1
Zu2
+
Xu2, Xu3
Yu2
Yu3
Rx
Rx
Zu2
Zu3