Page 1 Machine Automation Controller NJ-series NJ Robotics CPU Unit User’s Manual NJ501-4500 NJ501-4400 NJ501-4320 NJ501-4310 NJ501-4300 CPU Unit W539-E1-04...
Page 2 No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe- less, OMRON assumes no responsibility for errors or omissions.
Page 3: Introduction
For programming, this manual is intended for personnel who understand the programming language specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503. Applicable Products This manual covers the following products. • NJ-series NJ Robotics CPU Unit NJ501-4500 NJ501-4400 NJ501-4320 NJ501-4310 NJ501-4300 (Robot Version 1.02 or later)
Page 4: Relevant Manuals
Relevant Manuals Relevant Manuals The following table provides the relevant manuals for this product. Read all of the manuals that are rel- evant to your system configuration and application to make the most of this product. Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Studio Version 1 Operation Manual (Cat.
Page 5 Relevant Manuals Manual Basic information Purpose of use Learning about error management and         corrections Maintenance Using motion control  Using EtherCAT   Using EtherNet/IP  Using database connection service  Using robot control ...
Page 6: Manual Structure
Manual Structure Manual Structure Page Structure and Symbols The following page structure and symbols are used in this user’s manual. Level 1 heading 4 Installation and Wiring Level 2 heading Level 3 heading Mounting Units Level 2 heading Gives the current Level 3 heading headings.
Page 7: Special Information
Manual Structure Special Information Special information in this user’s manual is classified as follows: Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product. Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance. Additional Information Additional information to read as required.
Page 8: Precaution On Terminology
Manual Structure Precaution on Terminology • In this user's manual, "download" refers to transferring data from the Sysmac Studio to the physical Controller and "upload" refers to transferring data from the physical Controller to the Sysmac Studio. For the Sysmac Studio, synchronization is used to both upload and download data. Here, "synchro- nize"...
Page 9: Sections In This Manual
Sections in this Manual Sections in this Manual Overview of NJ Robotics CPU Unit Features of NJ Robotics CPU Unit Setting Robot Functions Robot Instructions Vision & Robot Integrated Simulation Troubleshooting Appendices Index NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 10: Table Of Contents
CONTENTS CONTENTS Introduction ......................1 Intended Audience............................1 Applicable Products ............................. 1 Relevant Manuals ..................... 2 Manual Structure ...................... 4 Page Structure and Symbols ........................4 Special Information ............................5 Precaution on Terminology .......................... 6 Sections in this Manual ................... 7 CONTENTS........................
Page 11: Contents
CONTENTS Robot Control Configuration....................1-10 Section 2 Features of NJ Robotics CPU Unit Controllable Robot Types ..................... 2-2 Coordinate System........................ 2-5 2-2-1 Overview of Coordinate Systems ....................2-5 2-2-2 Coordinate Systems ......................... 2-14 Robot Functions ........................2-15 2-3-1 Kinematics Setting ........................2-15 2-3-2 Workspace Check........................
Page 12 CONTENTS Multi-execution of Motion Control Instructions..............4-84 4-2-1 Multi-execution in Aborting Mode....................4-84 4-2-2 Multi-execution in Buffered Mode....................4-85 4-2-3 Multi-execution in Blending Mode ..................... 4-86 State Transitions of Robot Instructions ................4-91 Sample Programming ......................4-92 Section 5 Vision & Robot Integrated Simulation Overview of Simulation......................
Page 13 CONTENTS NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 14: Terms And Conditions Agreement
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman- ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
Page 15: Application Considerations
Disclaimers Performance Data Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor- mance is subject to the Omron’s Warranty and Limitations of Liability.
Page 16: Safety Precautions
Safety Precautions Safety Precautions Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of an NJ Robotics Controller. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions.
Page 17: Warnings
Safety Precautions Warnings WARNING During Power Supply Do not touch any of the terminals or terminal blocks while the power is being supplied. Doing so may result in electric shock. Do not disassemble any of the Units. Particularly the power-supplied Units contain parts with high voltages while power is sup- plied or immediately after power is turned OFF.
Page 18 Safety Precautions If there is interference in remote I/O communications or if a major fault level error occurs, output status will depend on the specifications of the product that is used. Check the product's specifications and see what operation will occur when there is interfer- ence in communications or a major fault level error, and implement safety measures.
Page 19: Cautions
Safety Precautions Cautions Caution Application Do not touch any Unit while power is supplied or immediately after the power supply is turned OFF. Doing so may result in burn injury. Wiring Be sure that all terminal screws and cable connector screws are tightened to the torques specified in this manual or in the reference manuals.
Page 20 Safety Precautions Simulation Although the Sysmac Studio's simulation function simulates the operations of the Controller and vision sensors, there are differences from the Controller and vision sensors in opera- tion and timing. After you use the simulation function to debug the user program, always check operation and perform adjustments on the physical Controller and vision sensors before you use the user program to operate the controlled system.
Page 21: Precautions For Safe Use
Precautions for Safe Use Precautions for Safe Use Disassembly and Dropping • Do not attempt to disassemble, repair, or modify any Units. Doing so may result in malfunction or fire. • Do not drop any Unit or subject it to abnormal vibration or shock. Doing so may result in Unit malfunc- tion or burning.
Page 22 Precautions for Safe Use Power Supply Design • Do not exceed the rated supply capacity of the Power Supply Units used in the Controller system. The rated supply capacities are given in the NJ-series CPU Unit Hardware User's Manual (Cat. No. W500).
Page 23 Precautions for Safe Use • Do not turn OFF the power supply or remove the SD Memory Card while SD Memory Card access is in progress (i.e., while the SD BUSY indicator flashes). Data may become corrupted, and the Control- ler will not operate correctly if it uses corrupted data.
Page 24 Precautions for Safe Use Battery Backup The user program and initial values for the variables are stored in non-volatile memory in the CPU Unit. The present values of variables with the Retain attribute and the values of the Holding, DM, and EM Areas in the memory used for CJ-series Units are backed up by a Battery.
Page 25 CAT slaves are cut off. During that period, the slave outputs behave according to the slave settings. The time that communications are cut off depends on the EtherCAT network configuration. If the Eth- erCAT network configuration contains only OMRON EtherCAT slaves, communications are cut off for a maximum of 45 seconds.
Page 26 Precautions for Safe Use Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) for details. Motion Control • Confirm the axis number carefully before you perform an MC Test Run. • The motor is stopped if communications are interrupted between the Sysmac Studio and the CPU Unit during an MC Test Run.
Page 27 Precautions for Safe Use Battery Replacement • The Battery may leak, rupture, heat, or ignite. Never short-circuit, charge, disassemble, heat, or incinerate the Battery or subject it to strong shock. • Dispose of any Battery that has been dropped on the floor or otherwise subjected to excessive shock.
Page 28: Precautions For Correct Use
Precautions for Correct Use Precautions for Correct Use • Do not install or store the Controller in the following locations. Operation may stop or malfunctions may occur. a) Locations subject to direct sunlight b) Locations subject to temperatures or humidity outside the range specified in the specifications c) Locations subject to condensation as the result of severe changes in temperature d) Locations subject to corrosive or flammable gases e) Locations subject to dust (especially iron dust) or salts...
Page 29 Precautions for Correct Use Unit Replacement • Refer to the CPU Bus Unit and Special I/O Unit operation manuals for details on the data required by each Unit. • The absolute encoder home offset is backed up with a Battery in the CPU Unit. When you change the combination of the CPU Unit and Servomotor, e.g., when you add or replace a Servomotor, define home again.
Page 30: Regulations And Standards
Concepts  EMC Directives OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards.
Page 31: Conformance To Shipbuilding Standards
It may not be possible to use the product in some locations. Contact your OMRON representative before attempting to use a Controller on a ship. Usage Conditions for NK and LR Shipbuilding Standards •...
Page 32: Versions
You can confirm versions in the ID information indications on the product or with the Sysmac Studio. Confirming Versions with ID Information Indications The version is given on the ID information indication of the products. The following figure shows the design of the ID information for NJ Robotics NJ501-4500 CPU Units. ID information indication Unit model...
Page 33 Versions Confirming Versions with Sysmac Studio You can use the Sysmac Studio to check the version. The procedure to check the versions differs between a Unit and an EtherCAT slave.  Version of Units The version of Units are given in the Production Information when the Sysmac Studio is online. You can check the versions of the following Units: CPU Unit, CJ-series Special I/O Units, and CJ-series CPU Bus Units.
Page 34 Versions  Version of EtherCAT Slaves The version of EtherCAT slaves are given in the Production Information Dialog Box when the Sys- mac Studio is online. Use the following procedure. Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, right-click EtherCAT under Configurations and Setup and select Edit from the menu.
Page 35: Related Manuals
When programming, use this manual Manual trol instructions that are together with the NJ-series CPU Unit Hard- NJ301- provided by OMRON. ware User's Manual (Cat. No. W500), NJ101- NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501), and NJ/NX-series CPU Unit Motion Control User's Manual (Cat.
Page 36 Related Manuals Manual name Cat. No. Model numbers Application Description NJ/NX-series CPU Unit W506 NX701- Using the built-in Ether- Provides information on the built-in EtherNet/IP Built-in EtherNet/IP™ Port Net/IP port on an port. NJ501- User’s Manual NJ/NX-series CPU Unit. This manual provides information on the NJ301-...
Page 37: Terminology
The model number NJ501-1300, NJ501-1400 or NJ501-1500. NJ-series NJ Robotics CPU Unit The model number NJ501-4300, NJ501-4310, NJ501-4320, NJ501-4400 or NJ501-4500. These models may also be written as "NJ501-4". Sysmac Studio Robot Options The optional functions of the Sysmac Studio provided to use NJ501-4 robot functions.
Page 38 Terminology Term Description TCPi (Tool Center Point i) The TCP of a certain tool. The symbol i represents ToolID of the TCP. The i takes on values from 1 to 16. Robot TCP The default TCP of the robot. This is the same thing as TCP0. (Robot Tool Center Point) Active TCP A TCP which is currently selected by the robot.
Page 39: Revision History
Revision History Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. W539-E1-04 Cat. No. Revision code Revision code Date Revised content April 2015 Original production October 2015 Added information on Vision &...
Page 40 Revision History NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 41: Overview Of Nj Robotics Cpu Unit
Overview of NJ Robotics CPU Unit This section describes the features, system configuration, operating procedure, specifi- cations and control configuration of an NJ-series NJ Robotics CPU Unit. 1-1 Features and System Configuration of Unit ......1-2 1-1-1 Features of NJ Robotics CPU Unit .
Page 42: Features And System Configuration Of Unit
The NJ-series Controllers provide the functionality of previous OMRON PLCs, and they also provide the functionality that is required for motion control. Synchronized control of I/O devices on high-speed EtherCAT can be applied to safety devices, vision systems, motion equipment, discrete I/O, and more.
Page 43 The NJ-series Controllers support language specifications that are based on IEC 61131-3. To these, OMRON has added our own improvements. Motion control instructions that are based on PLCopen standards and an instruction set (POUs) that follows IEC rules are provided.
Page 44: Introduction To The System Configurations
1 Overview of NJ Robotics CPU Unit 1-1-2 Introduction to the System Configurations The NJ Robotics CPU Unit supports the following system configurations. Basic System Configuration The NJ-series basic configurations include the EtherCAT network configuration and the Support Soft- ware. ...
Page 45 1 Overview of NJ Robotics CPU Unit Robot System Configuration The following figures show the robot system configurations.  Packing 1 The sensor detects workpieces and the robots put them into boxes. Sensor Encoder Motor  Packing 2 The vision sensor detects workpieces conveyed randomly, and the robots put them into boxes. Vision sensor Encoder Motor...
Page 46 1 Overview of NJ Robotics CPU Unit  Alignment The robots align workpieces conveyed randomly, and line them up on another conveyor. Motor Encoder Vision sensor Encoder Motor 1 - 6 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 47: Operation Procedure Of Unit
1 Overview of NJ Robotics CPU Unit Operation Procedure of Unit This section provides the procedure to operate a Delta3 robot. START Select absolute encoders and motors with Selection brakes. Installation and Install the motors so that they can meet the wiring check requirements of relationship between the machine coordinate system and axis coordinate systems.
Page 48: Specifications Of Unit
Applicable robots Delta3, Delta3R, Delta2, Cartesian 3D, Cartesian 3D Gantry, Cartesian 2D, Cartesian 2D Gantry and H-Bot Controllable Servo Drives OMRON G5-series Servo Drives with built-in EtherCAT communications Controllable encoder input ter- OMRON GX-series EtherCAT Remote I/O Terminals minals GX-EC0211/-EC0241...
Page 49 *4. You cannot use this function for robot control. *5. Positions can be set within a 40-bit signed integer range when converted to pulses. *6. The maximum velocity command value is 400 Mpps (in pulses) when you use OMRON G5-series Servo Drives.
Page 50: Robot Control Configuration
1 Overview of NJ Robotics CPU Unit Robot Control Configuration A control system built with Servo Drives generally controls motor operation with a semi-closed loop. The semi-closed loop uses an encoder attached to the motor to detect the amount of rotation that has been performed by the motor in response to the command value.
Page 51: Features Of Nj Robotics Cpu Unit
Features of NJ Robotics CPU Unit This section describes the types of robots you can control, their coordinate systems and functions. 2-1 Controllable Robot Types ........2-2 2-2 Coordinate System .
Page 52: Controllable Robot Types
2 Features of NJ Robotics CPU Unit Controllable Robot Types The robot types connectable to the NJ Robotics CPU Unit are Delta3, Delta3R, Delta2, Cartesian 3D, Cartesian 3D Gantry, Cartesian 2D, Cartesian 2D Gantry and H-Bot. The following figure is an example of Delta3. The following figure is an example of Delta2.
Page 53 2 Features of NJ Robotics CPU Unit The following figure is an example of Cartesian 2D. The following figure is an example of Cartesian 3D Gantry. 2 - 3 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 54 2 Features of NJ Robotics CPU Unit The following figure is an example of H-bot. 2 - 4 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 55: Coordinate System
2 Features of NJ Robotics CPU Unit Coordinate System This section describes the coordinate systems used by an NJ Robotics CPU Unit. 2-2-1 Overview of Coordinate Systems This section describes the types of coordinate systems, the directions of axis coordinate systems (ACS), and the positional relationship between the axis coordinate systems (ACS) and the machine coordinate system (MCS).
Page 56 2 Features of NJ Robotics CPU Unit  Coordinate Systems for Delta3R Machine coordinate system (MCS) Axis coordinate Fixed frame system (ACS) Moving frame Robot TCP User coordinate system (UCS) Tool coordinate system (TCS0) Zt Zt Yt Yt Tool coordinate system (TCSn) 2 - 6 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 57 2 Features of NJ Robotics CPU Unit  Coordinate Systems for Delta2 The figure shows Delta2 viewed from Ym direction. Fixed frame Machine coordinate system (MCS) Moving frame User coordinate system (UCS)  Coordinate Systems for Cartesian 3D User coordinate system (UCS) Machine coordinate system (MCS)
Page 58 2 Features of NJ Robotics CPU Unit  Coordinate Systems for Cartesian 3D Gantry User coordinate system (UCS) Machine coordinate system (MCS)  Coordinate Systems for Cartesian 2D User coordinate system (UCS) Machine coordinate system (MCS) The Cartesian 2D kinematics can be arranged in the three coordinate planes: •...
Page 59 2 Features of NJ Robotics CPU Unit  Coordinate Systems for Cartesian 2D Gantry User coordinate system (UCS) Machine coordinate system (MCS) The Cartesian 2D Gantry kinematics can be arranged only in XY coordinate plane.  Coordinate Systems for H-Bot The H-Bot kinematics has 4 sub types.
Page 60 2 Features of NJ Robotics CPU Unit H-Bot1 kinematics can be used also with CoreXY robot. Machine coordinate system (MCS) • H-Bot type 2 Machine coordinate system (MCS) User coordinate system (UCS) A0 movement A1 movement X movement Y movement direction direction direction...
Page 61 2 Features of NJ Robotics CPU Unit A0 movement A1 movement X movement Y movement direction direction direction direction Positive Positive Negative No movement Positive Negative No movement Negative Negative Positive No movement Positive Negative Negative Positive No movement • T-Bot type 2 Machine coordinate system (MCS) User coordinate...
Page 62 2 Features of NJ Robotics CPU Unit Wire a Servomotor so that the motor rotates in the directions shown in the following figure. Fixed frame Link 1 Negative direction 0 [degree] Positive direction Link 2  Directions of ACS for Cartesian Robots and Gantry Robots In these robots, each axis is corresponding to one of coordinate X, Y or Z.
Page 63 2 Features of NJ Robotics CPU Unit  Directions of ACS for H-Bots and T-Bots In these robots, positive direction of each axis is counter-clockwise in plane XY. The following figure is an example of H-Bot type 1. A0 positive Machine coordinate system (MCS) A1 positive...
Page 64: Coordinate Systems
2 Features of NJ Robotics CPU Unit Precautions for Correct Use The positional relationship between axes, and the directions of their coordinate systems are fixed and cannot be changed. 2-2-2 Coordinate Systems This section describes the axis coordinate system (ACS), the machine coordinate system (MCS), the user coordinate system (UCS), and the tool coordinate system (TCS).
Page 65: Robot Functions
2 Features of NJ Robotics CPU Unit Robot Functions This section gives information related to the robot functions that include the kinematics, workspace and coordinate systems. 2-3-1 Kinematics Setting To operate a robot, you need to set the kinematics type and the transform parameters for the axes group.
Page 66 2 Features of NJ Robotics CPU Unit Parameter Description The distance between the center of fixed frame and the axis motor Radius (unit: mm) The distance between the center of moving frame and the joint of link 2 Radius (unit: mm) The length of link 1 (unit: mm) The length of link 2 (unit: mm) θ...
Page 67 2 Features of NJ Robotics CPU Unit  Setting for Cartesian 3D Set the following parameters for Cartesian 3D. Machine coordinate system (MCS) (OffX, OffY, OffZ) Position of TCP when all axes are 0 Parameter Description OffX The distance on X between MCS origin and TCP when all axes are 0 (unit: OffY The distance on Y between MCS origin and TCP when all axes are 0 (unit: OffZ...
Page 68 2 Features of NJ Robotics CPU Unit  Setting for Cartesian 3D Gantry Set the following parameters for Cartesian 3D Gantry. Machine coordinate system (MCS) (OffX, OffY, OffZ) Position of TCP when all axes are 0 Parameter Description OffX The distance on X between MCS origin and TCP when all axes are 0 (unit: OffY The distance on Y between MCS origin and TCP when all axes are 0 (unit: OffZ...
Page 69 2 Features of NJ Robotics CPU Unit When there is this difference (between axes A0 and A1) and a robotics movement is executed, there could be a position jump at the beginning of the movement because same position is output to axes A0 and A1.
Page 70 2 Features of NJ Robotics CPU Unit  Setting for Cartesian 2D Set the following parameters for Cartesian 2D. Machine coordinate system (MCS) (Off1, Off2,0) Position of TCP when all axes are 0 Parameter Description Off1 The distance of the first coordinate between MCS origin and TCP when all axes are 0 (unit: mm) Off2 The distance of the second coordinate between MCS origin and TCP when...
Page 71 2 Features of NJ Robotics CPU Unit  Setting for Cartesian 2D Gantry Set the following parameters for Cartesian 2D Gantry. Machine coordinate system (MCS) (OffX, OffY, 0) Position of TCP when all axes are 0 Parameter Description OffX The distance on X between MCS origin and TCP when all axes are 0 (unit: OffY The distance on Y between MCS origin and TCP when all axes are 0 (unit: Err1...
Page 72 2 Features of NJ Robotics CPU Unit  Setting for H-Bot Set the following parameters for H-Bot. Machine coordinate ystem (MCS) (OffX, OffY) Position of TCP when all axes are 0 Parameter Description OffX The distance on X between MCS origin and TCP when all axes are 0 (unit: OffY The distance on Y between MCS origin and TCP when all axes are 0 (unit: Type...
Page 73: Workspace Check
2 Features of NJ Robotics CPU Unit 2-3-2 Workspace Check The workspace check refers to a function that checks the range of motion of the robot TCP. If the robot TCP is placed outside the workspace, an error occurs and operation of the axes group stops.
Page 74 2 Features of NJ Robotics CPU Unit Setting Workspace Parameters This section describes details on parameter settings for each workspaces.  Delta3Workspace The shape of Delta3Workspace consists of a combination of a cylinder and a truncated cone. Z Axis Set the following parameters. Parameter Description The front face of the cylinder.
Page 75 2 Features of NJ Robotics CPU Unit  Delta2Workspace The shape of Delta2Workspace is a trapezoid. Rtop Rbottom Set the following parameters. Parameter Description The top of the trapezoid. The position relative to the origin of Z axis (unit: The height of the trapezoid (unit: mm) Rtop The radius of the top of the trapezoid (unit: mm) Rbottom...
Page 76 2 Features of NJ Robotics CPU Unit  Cartesian2DWorkspace The shape of Cartesian2D workspace is a rectangular in specified plane. Workspace Origin of the workspace (Org1, Org2) Machine coordinate system (MCS) Set the following parameters. Parameter Description Org1 Origin of the workspace: the first coordinate (unit: mm) Org2 Origin of the workspace: the second coordinate (unit: mm) Workspace dimension on the first coordinate direction (unit: mm)
Page 77 2 Features of NJ Robotics CPU Unit Robot Motion Range The space of the robot motion range exists 0.1 mm back from each edge of the workspace set by the MC_SetKinTransfrom (Set Kinematics Transformation) instruction. Therefore, the robot target position must be set to positions at least 0.1 mm back from each edge of the workspace.
Page 78 2 Features of NJ Robotics CPU Unit Precautions on Using Robot Tool When a robot tool is used, the robot TCP is always used for the workspace check. Precautions for Correct Use If you select a robot tool other than the robot TCP, the robot TCP (TCP0) placed outside the workspace may cause an error, even if the robot tool TCP (TCP1) is within the workspace.
Page 79: User Coordinate System (Ucs)
2 Features of NJ Robotics CPU Unit 2-3-3 User Coordinate System (UCS) Use the MC_DefineCoordSystem (Define Coordinate) instruction to set origin positions (Tx, Ty, Tz, Rx, Ry, Rz) of user coordinate systems (UCS). This section describes the origin positions you set. Refer to MC_DefineCoordSystem on page 4-15 for details on the MC_DefineCoordSystem (Define Coordinate) instruction.
Page 80: Monitoring
2 Features of NJ Robotics CPU Unit Zu, Zu1 Yu1, Yu2 Xu2, Xu3 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.
Page 81: Conveyor Synchronization
2 Features of NJ Robotics CPU Unit 2-3-6 Conveyor Synchronization Conveyor tracking is a process in which an object (workpiece) laying on a moving or stationary con- veyor belt is followed-up by a robot. Robot can perform action when is synchronized with the object, it depends on the application.
Page 82: Inverse Kinematics
2 Features of NJ Robotics CPU Unit 2-3-7 Inverse Kinematics This function transforms a robot TCP position in the machine coordinate system (MCS) to a position in the axis coordinate system (ACS) of each robot axis. When you want to move the robot along a desired trajectory, use this function together with the MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning) instruction.
Page 83 2 Features of NJ Robotics CPU Unit Rotation around X axis (Rx) Rotation around Y axis (Ry) Rotation around Z axis (Rz) TCS0 TCS0 TCS0 γ β α TCS0 TCS0 TCS0 TCS0 TCS0 TCS0 − − − γ β α Some parameters for robot tool definition are invalid depending on the kinematics type.
Page 84: Robot Jogging
2 Features of NJ Robotics CPU Unit TCP1 TCP1 TCP1 TCS0 TCS1 Transition Transition Transition TCP0 TCS0 TCS1 TCS1 TCS1 TCS0 TCS1 TCS1 TCS1 TCP0 TCP1 Precautions for Correct Use Robot tools 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 robot tools for the robot.
Page 85: Acceleration/Deceleration
2 Features of NJ Robotics CPU Unit 2-3-10 Checking Maximum Interpolation Velocity and Maximum Interpo- lation Acceleration/Deceleration The maximum interpolation velocity check and maximum interpolation acceleration/deceleration check are performed for the robot TCP and the active TCP. The maximum interpolation velocity and maximum interpolation acceleration/deceleration for the robot TCP are set to protect the robot.
Page 86 2 Features of NJ Robotics CPU Unit • The factory default value is set to 0.0 (disabled). To enable the checks, set the values other than 0.0. • Depending on the instruction, the background checks are enabled/disabled. See the following instruction list.
Page 87: 2-3-11 Multi-Execution Of Instructions With Buffered Mode
2 Features of NJ Robotics CPU Unit  Checks in Every Control Period The following two types of checks are performed in every control period. • Checks for the velocity error and acceleration error during instruction execution. • If the command velocity or command acceleration/deceleration exceeds the maximum interpola- tion velocity or maximum interpolation acceleration/deceleration, an axes group error occurs and instruction execution stops.
Page 88: 2-3-13 Trajectory Types For Time-Specified Motion
2 Features of NJ Robotics CPU Unit 2-3-13 Trajectory Types for Time-specified Motion There are three options for the trajectory type of time-specified motion: the polynomial 3 curve, modi- fied sine curve, and modified constant velocity curve. Polynomial 3 Curve A polynomial 3 curve takes 0.0 as the start velocity and end velocity.
Page 89 2 Features of NJ Robotics CPU Unit Modified Constant Velocity Curve A modified constant velocity curve consists of a combination of sine waves and straight lines. This is a type of universal cam curves in which the velocity is constant for the half of the trajectory time period.
Page 90 2 Features of NJ Robotics CPU Unit 2 - 40 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 91: Setting Robot Functions
Setting Robot Functions This section describes the settings required to use robots. 3-1 Setting Group for Robot ........3-2 3-1-1 Group Setting Procedures .
Page 92: Setting Group For Robot
3 Setting Robot Functions Setting Group for Robot This section describes how to set the group assigned to the robot and the specific items to set with the Sysmac Studio. In this section, Delta3 is used as the example for the group setting procedure. Refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat.
Page 93: Axes Group Settings
3 Setting Robot Functions 3-1-2 Axes Group Settings Use the Sysmac Studio to set the axes group parameters for each axes group. Axes Group Basic Settings Set whether to use the axes group. If you use the axes group, set the axis configuration and the axes to use.
Page 94: Axis Settings
3 Setting Robot Functions Parameter name Setting Set value Maximum Interpo- Set the maximum interpolation velocity for the Use the default value. lation Velocity trajectory. Maximum Interpo- Set the maximum interpolation acceleration for lation Acceleration the trajectory. Maximum Interpo- Set the maximum interpolation deceleration for lation Deceleration the trajectory.
Page 95 3 Setting Robot Functions Axis Basic 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. Parameter name Setting Set value Axis Use...
Page 96 3 Setting Robot Functions Parameter name Setting Set value Maximum Deceler- Set the maximum deceleration rate for an axis Set the value according to the robot ation specification. operation command. Accelera- Select the operation for when the maximum tion/Deceleration acceleration/deceleration may be exceeded Over after excessive deceleration during the axis acceleration/deceleration control because stop-...
Page 97 3 Setting Robot Functions Other Operation Settings These parameters set the items such as the stopping methods at input signals ON and the torque lim- its. Parameter name Setting Set value Immediate Stop Set the stopping method in the MC Function Set the value according to the robot Input Stop Method Module when the immediate stop input signal...
Page 98 3 Setting Robot Functions Position Count Settings Set the count mode for the position. Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on using the NX-series Position Interface Units. Parameter name Setting Set value Count Mode Set the count mode for the position.
Page 99: Robot Kinematics Settings
3 Setting Robot Functions Robot Kinematics Settings You need to set the following items in user program to operate robot. • To set items such as the robot link length and workspace, use the MC_SetKinTransform (Set Kine- matics Transformation) instruction while all homes for axes are already determined. Refer to MC_SetKinTransform on page 4-6 for details on the MC_SetKinTransform (Set Kinematics Transformation) instruction.
Page 100: Homing
3 Setting Robot Functions Homing This section describes how to define the home of the robot. For example, you need to take the following steps to define the home of Delta3. Move the robot axis to the home and fix it. Refer to the manuals and other references related to your robot, and carry out this step.
Page 101: Target Position And Direction Setting Method
3 Setting Robot Functions Target Position and Direction Setting Method This section describes how to set the positions for different types of robots and how to control the rota- tional axis of Delta3R. 3-4-1 Position Settings The target position values set with the Position (Target Position [X, Y, Z, Rx, Ry, Rz]) input variables vary depending on the selected robot type.
Page 102 3 Setting Robot Functions −180 −900 −720 −540 −360 −180 Position in Axis Coordinate System (ACS) [degree] The range of command position for rotation around Z axis is limited. It is the same as the range of com- mand position for the Linear Mode in the Motion Control Function Module. If a command position exceeds the range, an undefined home error occurs.
Page 103 3 Setting Robot Functions Negative Direction Positive Direction −180 Current position −540 −360 −180 Position in Axis Coordinate System (ACS) [degree]  _mcNoDirection Direction of rotation axis is not set. Robot will move the rotation axis so that it achieves the target position keeping the rotation around Z (Rz) position in the same turn of its kinematics range (ring).
Page 104: Checking Wiring From The Sysmac Studio
3 Setting Robot Functions Checking Wiring from the Sysmac Studio This section describes how to check the wiring and electronic gear ratio setting of robot axis. Check item What to check Check wiring The wiring for devices such as limit sensors are all correct. If you give the axis a positive command value, the axis oper- ates in a downward direction.
Page 105: Robot Instructions
Robot Instructions This section describes the robot instructions. 4-1 Overview of Robot Instructions ........4-2 4-1-1 List of Robot Instructions .
Page 106: Overview Of Robot Instructions
4 Robot Instructions Overview of Robot Instructions This section gives the list of the robot instructions, and the information on the axes group instructions that you can execute with kinematics settings and on the instructions to start or stop robot operation. 4-1-1 List of Robot Instructions In addition to the instructions that you can use with an NJ501-1...
Page 107: Robot Execution And Stop Instructions
4 Robot Instructions With kinematics Without kinematics Motion control instruction Name setting setting MC_MoveTimeAbsolute Time-specified Absolute Positioning MC_SyncLinearConveyor Start Conveyor Synchronization MC_SyncOut End Synchronization MC_InverseKin Inverse Kinematics MC_RobotJog Axes Group Jog *1. You can executable the instruction, but the set value will be invalid. The robot operation is not affected. Precautions for Correct Use •...
Page 108: Unusable Output Variables Of Axes Group
4 Robot Instructions Precautions for Correct Use The robot operation stops if any of the following errors occurs during robot operation. Note that the robot stops immediately in such a case. • An error that occurs in the MC Function Module. •...
Page 109: Details On Robot Instructions
Details on Robot Instructions This section describes the robot instructions and the MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning) instruction, which is a group motion instruction that you can use for robot operation. For details on other instructions, refer to the NJ/NX-series Motion Control Instructions Reference Man- ual (Cat.
Page 110: Mc_Setkintransform
4 Robot Instructions MC_SetKinTransform The MC_SetKinTransform instruction makes the axes group settings required for robot control. The set- tings include the kinematics setting, workspace check setting, and maximum interpolation velocity set- ting. Instruction Name Graphic expression ST expression MC_SetKinTransform Set Kinemat- MC_SetKinTransform_instance ( MC_SetKinTransform_instance ics Transfor-...
Page 111 4 Robot Instructions Input Variables Name Meaning Data type Valid range Default Description Execute Execute BOOL TRUE or FALSE The instruction is executed when Execute FALSE changes to TRUE. KinTransform Kinematics _sMC_KIN_ Set the parameters including the kinemat- Transformation ics type and robot link length. Workspace Workspace _sMC_...
Page 112 4 Robot Instructions  _sMC_WORKSPACE_REF Name Meaning Data type Valid range Description WorkspaceType Workspace _eMC_ 100: _mcDelta3 Workspace Select the workspace type. Type Selection WORKSPACE_ 101: _mcDelta2 Workspace 100: Delta3 or Delta3R TYPE 102: _mcCartesian3Dworkspace 101: Delta2 103: _mcCartesian2Dworkspace 102: Cartesian 3D 104: _mcHBotWorkspace 103: Cartesian 2D 104: H-Bot...
Page 113 4 Robot Instructions In-Out Variables Valid Name Meaning Data type Description range AxesGroup Axes Group _sGROUP_REF Specify the axes group. Function • Set parameters for the kinematics, workspace check, maximum interpolation velocity check and other functions for the specified axis group. •...
Page 114 4 Robot Instructions Precautions for Correct Use If you perform positioning with the MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchro- nous Absolute Positioning) instruction, the workspace check is not performed. Also, checks for the following variables that are set with the MC_SetKinTransform (Set Kinematics Transforma- tion) instruction are not performed: MaxVelocityTCP (Maximum Interpolation Velocity), MaxAc- celerationTCP (Maximum Interpolation Acceleration) and MaxDecelerationTCP (Maximum Interpolation Deceleration).
Page 115 4 Robot Instructions Cartesian3D and Cartesian3D Gantry Name Data type Valid range Description KinParam[0] LREAL Full range The distance on X between MCS origin and TCP when all axes are 0: OffX [mm] KinParam[1] LREAL Full range The distance on Y between MCS origin and TCP when all axes are 0: OffY [mm] KinParam[2] LREAL...
Page 116 4 Robot Instructions Cartesian3D Gantry and Cartesian2D Gantry Name Data type Valid range Description ExpansionParam[0] LREAL -1.0 or Positive The maximum acceptable error of commanded posi- tions between axes A0 and A1 (absolute value) Number ExpansionParam[1] LREAL -1.0 or Positive The maximum acceptable error of actual positions between axes A0 and A1 (absolute value) Number...
Page 117 4 Robot Instructions  WorkspaceParam Set the range of the workspace. The setting values depending on Workspace Type Selection as shown below. Delta3 or Delta3R Name Data type Valid range Description WorkspaceParam[0] LREAL Negative number The cylinder top face position: Zu [mm] WorkspaceParam[1] LREAL Positive number...
Page 118 4 Robot Instructions Cartesian2D Name Data type Valid range Description WorkspaceParam[5] to LREAL (Reserved) [7] (Reserved) H-Bot Name Data type Valid range Description WorkspaceParam[0] LREAL Full Range Origin of the workspace: X coordinate: X0 [mm] WorkspaceParam[1] LREAL Full Range Origin of the workspace: Y coordinate: Y0 [mm] WorkspaceParam[2] LREAL Positive number...
Page 119: Mc_Definecoordsystem
4 Robot Instructions MC_DefineCoordSystem The MC_DefineCoordSystem instruction sets user coordinate systems (UCS) for the specified robot (axes group). Instruction Name Graphic expression ST expression MC_DefineCoordSystem Define MC_DefineCoordSystem_instance ( MC_DefineCoordSystem_instance Coordinate AxesGroup :=parameter, MC_DefineCoordSystem Execute :=parameter, AxesGroup AxesGroup CoordTransform :=parameter, Execute Done CoordTransform Busy...
Page 120 4 Robot Instructions Output Variables Valid Name Meaning Data type Description range Done Done BOOL TRUE or TRUE when the settings are completed. FALSE Busy Executing BOOL TRUE or TRUE when the instruction is acknowledged. FALSE CommandAborted Command BOOL TRUE or TRUE when the instruction is aborted.
Page 121 4 Robot Instructions Function • This instruction sets user coordinate systems (UCS) for the specified robot (axes group). • You can set up to 16 user coordinate systems (UCS) for each robot with CSID (Coordinate System ID). • The values that you set are retained when the operating mode of the CPU Unit changes to PRO- GRAM mode.
Page 122 4 Robot Instructions  Pose Set the pose of the user coordinate system (UCS). Name Data type Valid range Description Pose [0] LREAL Positive number, neg- The origin position of the user coordinate ative number or 0 system viewed from the origin of X axis of the machine coordinate system: Tx [mm] Pose [1] LREAL...
Page 123: Mc_Definetooltransform
4 Robot Instructions MC_DefineToolTransform The MC_DefineToolTransform instruction sets tool coordinate systems (TCS) for the specified robot (axes group). Instruction Name Graphic expression ST expression MC_DefineToolTransform Define Tool MC_DefineToolTransform_instance ( MC_DefineToolTransform_instance Coordinate AxesGroup :=parameter, MC_DefineToolTransform Execute :=parameter, AxesGroup AxesGroup ToolTransform :=parameter, Execute Done ToolTransform...
Page 124 4 Robot Instructions Output Variables Valid Name Meaning Data type Description range Done Done BOOL TRUE or TRUE when the settings are completed. FALSE Busy Executing BOOL TRUE or TRUE when the instruction is acknowledged. FALSE CommandAborted Command BOOL TRUE or TRUE when the instruction is aborted.
Page 125 4 Robot Instructions Function • This instruction sets tool coordinate systems (TCS) for the specified robot (axes group). • You can set up to 16 tool coordinate systems (TCS) for each robot with ToolID (Tool ID). • The values that you set are retained when the operating mode of the CPU Unit changes to PRO- GRAM mode.
Page 126 4 Robot Instructions  Pose Set the pose of the tool coordinate system (TCS). Name Data type Valid range Description Pose [0] LREAL Positive number, nega- The origin position of the tool coordinate tive number or 0 system viewed from the robot TCP: Tx [mm] Pose [1] LREAL...
Page 127: Mc_Groupmon
4 Robot Instructions MC_GroupMon The MC_GroupMon instruction reads the current position and current velocity of the robot. Instruction Name Graphic expression ST expression MC_GroupMon Group MC_GroupMon_instance ( MC_GroupMon_instance Monitor AxesGroup :=parameter, MC_GroupMon Enable :=parameter, AxesGroup AxesGroup CoordSystem :=parameter, Enable Valid CoordSystem Busy CSID :=parameter,...
Page 128 4 Robot Instructions Output Variables Valid Name Meaning Data type Description range Valid Enabled BOOL TRUE or Position (Current Position) and Velocity (Current FALSE velocity) are valid when this variable is TRUE. Busy Executing BOOL TRUE or TRUE when the instruction is acknowledged. FALSE Error Error...
Page 129 4 Robot Instructions In-Out Variables Valid Name Meaning Data type Description range AxesGroup Axes Group _sGROUP_REF Specify the axes group. Function • This instruction outputs the current position and current velocity in the selected coordinate system for the specified robot (axes group) by performing the kinematics calculation with the current position and current velocity in the axis coordinate system (ACS).
Page 130 4 Robot Instructions Details on _sMC_POSITION_REF The following are the member variables of a _sMC_POSITION_REF data type variable.  CommandPosition This variable contains the command current position of TCP in the specified coordinate system. The setting varies depending on KinType (Kinematics Type Selection) as shown below. Data Name Valid range...
Page 131 4 Robot Instructions Details on _sMC_VELOCITY_REF The following are the member variables of a _sMC_VELOCITY_REF data type variable.  ActualVelocityTCP This variable contains the actual current velocity of TCP. Description Data Name Valid range type Delta3/Delta2 Delta3R ActualVelocityTCP LREAL Non-negative Unit: mm/s number The TCP velocity is obtained from the following equation.
Page 132 4 Robot Instructions Timing Charts Enable Valid Busy Error ErrorID 16#0000 Position Valid No Valid Velocity Valid No Valid Errors If an error occurs during instruction execution, Error will change to TRUE. You can find out the cause of the error by referring to the value output by ErrorID (Error Code). Enable Valid Busy...
Page 133: Mc_Movetimeabsolute
4 Robot Instructions MC_MoveTimeAbsolute The MC_MoveTimeAbsolute instruction moves the robot to a specified absolute target position in the specified time period. Instruction Name Graphic expression ST expression MC_MoveTimeAbsolute Time-specified MC_MoveTimeAbsolute_instance ( MC_MoveTimeAbsolute_instance Absolute AxesGroup :=parameter, MC_MoveTimeAbsolute Positioning Execute :=parameter, AxesGroup AxesGroup Position :=parameter, Execute...
Page 134 4 Robot Instructions Name Meaning Data type Valid range Default Description CoordSystem Coordinate _eMC_RBT_ 1: _mcRBT_MCS Select the coordinate system. System COORD_SYSTEM 3: _mcRBT_UCS 1: Machine coordinate system (MCS) 3: User coordinate system (UCS) CSID Coordinate UINT 0 to 15 Select the user coordinate system System ID number if you select the user coor-...
Page 135 4 Robot Instructions Output Variables Valid Name Meaning Data type Description range Done Done BOOL TRUE or TRUE when the instruction is completed. FALSE Busy Executing BOOL TRUE or TRUE when the instruction is acknowledged. FALSE Active Controlling BOOL TRUE or TRUE while control is in progress.
Page 136 4 Robot Instructions In-Out Variables Valid Name Meaning Data type Description range AxesGroup Axes Group _sGROUP_REF Specify the axes group. Function • This instruction moves the robot (axes group) from the current position to the target position specified in the Position (Target Position) input variable. •...
Page 137 4 Robot Instructions Setting the Target Position • For Position (Target Position), positions in the machine coordinate system (MCS) or positions in the user coordinate system (UCS) must be specified. • If you select the user coordinate system (UCS), set the user coordinate system number in CSID (Coordinate System ID).
Page 138 4 Robot Instructions Setting Direction • Direction input specifies the direction followed by the rotational axes when positioning the robot to the target position. • Direction input is only applicable to the kinematics that provides orientation (Rx, Ry, Rz). • Direction is referred to the rotational axes, so in case there is only one rotational axis for the robot, the first element of the array will be used (Delta-3R).
Page 139 4 Robot Instructions BufferMode (Buffer Mode Selection) • A different instruction instance can be executed during axis motion. • BufferMode specifies how to join the axis motions for this interpolation instruction and the previous interpolation instruction. • The following Buffer Modes are supported for BufferMode (Buffer Mode Selection). Buffer Mode Description Selection...
Page 140 4 Robot Instructions TransitionParameter (Transition Parameters) The setting of TransitionParameter (Transition Parameters) varies depending on whether Transition- Mode (Transition Mode) is set to _mcTMStartHeight (Start height) or _mcTMStartRemainingTime (Start remaining time).  _mcTMStartHeight (Start height) Data Name Valid range Description type TransitionParameter [0] LREAL...
Page 141 4 Robot Instructions Re-execution of Motion Control Instructions This instruction cannot be re-executed. A Motion Control Instruction Re-execution Disabled error (error code: 543B hex) occurs if re-execution is attempted, and all axes in motion stop. Multi-execution of Motion Control Instructions There are restrictions on the instructions that you can execute while this instruction is in execution.
Page 142: Mc_Synclinearconveyor
4 Robot Instructions MC_SyncLinearConveyor The MC_SyncLinearConveyor instruction moves the robot to track the specified workpiece on the con- veyor. After catching up, the robot moves in synchronization with the workpiece. Instruction Name Graphic expression ST expression MC_SyncLinearConveyor Start Con- MC_SyncLinearConveyor_instance ( MC_SyncLinearConveyor_instance veyor Syn- AxesGroup :=parameter,...
Page 143 4 Robot Instructions Name Meaning Data type Valid range Default Description TrajData Trajectory _sMC_SYNC_ Set the parameters for creating the Data TRAJ_REF command value used to move the robot to a specified target position. EnableOffset Offset BOOL TRUE or FALSE FALSE Enables offset value setting.
Page 144 4 Robot Instructions  _sMC_SYNC_TRAJ_REF Name Meaning Data type Valid range Description SyncTraj Synchroniza- _eMC_SYNC_ 0: _mcFlatTraj Select the trajectory type that is used to Type tion Trajectory TRAJ_TYPE create the command position for synchro- 2: _mcFlatTrajMod Type Selection nization with the conveyor. Sine 0: Polynomic 3 Curve 3: _mcFlatTrajMod...
Page 145 4 Robot Instructions  _sMC_SYNC_TRAJ_STATUS Name Meaning Data type Valid range Description RemainTime Remaining UINT Non-negative number Contains the remaining time for creating the Time command value. Phase Phase UINT 0 to 6 Contains the command position expressed as a value of a position on the trajectory.
Page 146 4 Robot Instructions In-Out Variables Valid Name Meaning Data type Description range AxesGroup Axes Group _sGROUP_REF Specify the axes group. ConveyorAxis Conveyor Axis _sAxis_REF Specify the axis. Function • The robot (axes group) moves from the current position and tracks the workpiece specified in Init- WrokpiecePosition (Initial Workpiece Position).
Page 147 4 Robot Instructions Precautions for Safe Use • Adjust the home of the robot before you start robot operation. • Do not operate the robot outside the workspace when the workspace check function is dis- abled. If you do so, the robot may be damaged. •...
Page 148 4 Robot Instructions Workpiece Position Setting • InitWorkpiecePosition (Initial Workpiece Position) of the workpiece that is tracked by the robot is set in the position in the machine coordinate system (MCS) or user coordinate system (UCS). • If you select the user coordinate system (UCS), set the user coordinate system number in CSID (Coordinate System ID).
Page 149 4 Robot Instructions Position Kinematics type Cartesian 2D Cartesian 3D Cartesian 2D-Gantry Name Plane Plane Plane Cartesian 3D-Gantry H-Bot InitWorkpiecePosition [0] Valid Valid Valid Invalid Valid InitWorkpiecePosition [1] Valid Valid Invalid Valid Valid InitWorkpiecePosition [2] Valid Invalid Valid Valid Invalid InitWorkpiecePosition [3] Invalid Invalid...
Page 150 4 Robot Instructions Symbol Description Trajectory target time (unit: ms) Ttrans1 Trajectory transition (unit: %) Ttrans2 The travel distance on the trajectory in Z axis direc- tion in the machine coordinate system (unit: mm)  If H1 > 0.0 and T1 > 0: Z axis X axis Symbol...
Page 151 4 Robot Instructions After the elapse of (T1 + T2 + (T3 − T3 × Ttrans2)), the instruction compares the command position (X, Y) and the actual current position (X, Y) of the workpiece. If the difference is within the following range, InSync changes to TRUE. If the difference exceeds the following range, an error occurs and the axis stops.
Page 152 4 Robot Instructions The instruction creates command positions according to which the robot moves away from the current position and goes down along Z axis during the T1 period. After the elapse of (T1 × Ttrans1), the instruction creates command positions according to which the robot tracks the workpiece.
Page 153 4 Robot Instructions After the elapse of T2, the instruction creates command positions according to which the robot moves down along Z axis. At this moment, the robot does not stop. After the elapse of (T2 + (T3 − T3 × Ttrans2)), the instruction compares the command position (X, Y) and the actual current position (X, Y) of the workpiece.
Page 154 4 Robot Instructions The following are the example of using rotation. • Rotation transition1 (Initial Phase) = 2 • Rotation transition2 (Final Phase) = 4 • Rotation Rz from 0° to 45° • Synchronization Trajectory Type Selection = polynomial 3 curve Rz (°...
Page 155 4 Robot Instructions  TrajTime Set the time for creating the command position used to move the robot from the current position to the target position. Name Data type Valid range Description TrajTime [0] UINT Non-negative number T1 [ms] TrajTime [1] UINT Positive number T2 [ms]...
Page 156 4 Robot Instructions  MaxAcceleration Set an acceleration rate for which acceleration errors are detected during command position cre- ation. An acceleration error indicates that the command acceleration/deceleration rate exceeded the spec- ified value. If you set this variable to 0, acceleration errors are not detected. Name Data type Valid range...
Page 157 4 Robot Instructions Setting Offsets The function adds an offset to the robot position and orientation when it is synchronized with a con- veyor. The offset is defined in a mixed format: Cartesian position for X, Y and Z and joint position for Orienta- tion part.
Page 158 4 Robot Instructions Kinematics type Cartesian 2D Name Cartesian 3D Cartesian 2D-Gantry Plane Plane Plane Cartesian 3D-Gantry H-Bot PositionOffset [0] Valid Valid Valid Invalid Valid PositionOffset [1] Valid Valid Invalid Valid Valid PositionOffset [2] Valid Invalid Valid Valid Invalid PositionOffset [3] Invalid Invalid Invalid...
Page 159 4 Robot Instructions Setting Coordinate System and Conveyor Axis To make the robot track the workpiece specified in InitWrokpiecePosition (Initial Workpiece Position), you must align X axis in the coordinate system specified in CoordSystem (Coordinate System) with the conveyor axis direction. In this example, the machine coordinate system (MCS) and user coordinate system (UCS) are speci- fied.
Page 160 4 Robot Instructions BufferMode (Buffer Mode Selection) • A different instruction instance can be executed during axis motion. • BufferMode specifies how to join the axis motions for this interpolation instruction and the previous interpolation instruction. • The following Buffer Modes are supported for BufferMode. Buffer Mode Description Selection...
Page 161 4 Robot Instructions TransitionParameter (Transition Parameters) The setting of TransitionParameter (Transition Parameters) varies depending on whether Transition- Mode (Transition Mode) is set to _mcTMStartHeight (Start height) or _mcTMStartRemainingTime (Start remaining time).  _mcTMStartHeight (Start height) Data Name Valid range Description type TransitionParameter [0] LREAL...
Page 162 4 Robot Instructions Re-execution of Motion Control Instructions This instruction cannot be re-executed. A Motion Control Instruction Re-execution Disabled error (error code: 543B hex) occurs if re-execution is attempted, and all axes in motion stop. Multi-execution of Motion Control Instructions There are restrictions on the instructions that you can execute while this instruction is in execution.
Page 163: Mc_Syncout
4 Robot Instructions MC_SyncOut The MC_SyncOut instruction cancels synchronization with the conveyor. Instruction Name Graphic expression ST expression MC_SyncOut End Syn- MC_SyncOut_instance ( MC_SyncOut_instance chronization AxesGroup :=parameter, MC_SyncOut Execute :=parameter, AxesGroup AxesGroup TrajData :=parameter, Execute Done TrajData Busy DecelerationTrigger :=parameter, DecelerationTrigger *1 CommandAborted Done =>parameter,...
Page 164 4 Robot Instructions Variables This section describes the input variables, output variables and in-out variables for the MC_SyncOut (End Synchronization) instruction. Input Variables Name Meaning Data type Valid range Default Description Execute Execute BOOL TRUE or FALSE FALSE The instruction is executed when Execute changes to TRUE.
Page 165 4 Robot Instructions Output Variables Valid Name Meaning Data type Description range Done Done BOOL TRUE or TRUE when the instruction is completed. FALSE Busy Executing BOOL TRUE or TRUE when the instruction is acknowledged. FALSE CommandAborted Command BOOL TRUE or TRUE when the instruction is aborted.
Page 166 4 Robot Instructions Function • This instruction cancels ongoing robot (axes group) synchronization which is started by the MC_Syn- cLinearConveyor (Start Conveyor Synchronization) instruction. • This instruction is completed when the set target time elapsed. An in-position check is not performed. •...
Page 167 4 Robot Instructions Setting Trajectory • Use TrajData (Trajectory Data) to set the parameters for creating the trajectory for synchronization cancellation. • There are three types of SyncStopType (Synch Stop Type Selection): Immediate stop, Synchronized stop, and Synchronized stop with Deceleration. •...
Page 168 4 Robot Instructions Velocity in Z axis DecelerationTrigger := TRUE Velocity in X axis conveyor Deceleration distance: Synchronization = (V * T5) / 2 Decel Deceleration Maximum Deceleration rate: Acceleration in X = 2* (V / T5) Jerk is automatically calculated in order to increase deceleration in the first half and decrease Jerk in X deceleration in the second half to reach to velocity...
Page 169 4 Robot Instructions Details on _sMC_SYNCOUT_TRAJ_REF The following are the member variables of the _sMC_SYNCOUT_TRAJ_REF data type variable.  SyncStopType Select the trajectory type that is used to create the command position for cancellation of synchroni- zation with the conveyor. Name Data type Valid range...
Page 170 4 Robot Instructions  MaxAcceleration Set an acceleration rate for which acceleration errors are detected during command position cre- ation. An acceleration error indicates that the specified acceleration or deceleration rate is exceeded. Name Data type Valid range Description MaxAcceleration LREAL Non-negative number Unit: mm/s...
Page 171 4 Robot Instructions Errors If an error occurs during instruction execution, Error will change to TRUE. You can find out the cause of the error by referring to the value output by ErrorID (Error Code). Execute Done Busy CommandAborted Error ErrorID 16#0000 Error Code...
Page 172: Mc_Inversekin
4 Robot Instructions MC_InverseKin The MC_InverseKin instruction performs inverse kinematics transformation. Instruction Name Graphic expression ST expression MC_InverseKin Inverse MC_InverseKin_instance ( MC_InverseKin_instance Kinematics AxesGroup :=parameter, MC_InverseKin Enable :=parameter, AxesGroup AxesGroup Position :=parameter, Eable Valid Position Busy ToolID :=parameter, ToolID Error Valid =>parameter, ErrorID Busy =>parameter,...
Page 173 4 Robot Instructions Output Variables Name Meaning Data type Valid range Description Valid Enabled BOOL TRUE or FALSE AxesPosition (Axes Target Position) is valid when this variable is TRUE. Axes target positions are updated each period. Busy Executing BOOL TRUE or FALSE TRUE when the instruction is acknowledged.
Page 174 4 Robot Instructions Details on Position and AxesPosition The following are the details on Position (Target Position) which you set and AxesPosition (Axes Target Position) which is the result of transformation.  Position Set the target position in the machine coordinate system (MCS). Name Data type Valid range...
Page 175 4 Robot Instructions  AxesPosition This variable contains axes target positions that are transformed from a target position in the machine coordinate system (MCS). Name Data type Valid range Description AxesPosition [0] LREAL Positive number, neg- The target position in the axis coordinate sys- ative number or 0 tem for A0 axis ([degree] or [mm], depending on KinType)
Page 176 4 Robot Instructions Timing Charts Enable Valid Busy Error ErrorID 16#0000 OutWorkspace Position in MCS In the workspace In the workspace In the workspace Out of workspace In the workspace In the workspace In the workspace Position in ACS Valid No Valid Errors If an error occurs during instruction execution, Error will change to TRUE.
Page 177: Mc_Robotjog
4 Robot Instructions MC_RobotJog The MC_RobotJog instruction jogs the axes group according to the specified target velocity. Instruction Name Graphic expression ST expression MC_RobotJog Axes MC_RobotJog_instance ( MC_RobotJog_instance Group Jog AxesGroup :=parameter, MC_RobotJog PositiveEnable_X :=parameter, AxesGroup AxesGroup NegativeEnable_X :=parameter, PositiveEnable_X Busy NegativeEnable_X CommandAborted...
Page 178 4 Robot Instructions Name Meaning Data type Valid range Default Description Positive Y Positive BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the Enable_Y Enable robot starts moving in the Y axis positive direction. When it changes to FALSE, the robot stops moving.
Page 179 4 Robot Instructions Name Meaning Data type Valid range Default Description ToolID Tool ID UINT 0 to 16 Select the ID of the robot tool. Output Variables Valid Name Meaning Data type Description range Busy Executing BOOL TRUE or TRUE when the instruction is acknowledged. FALSE CommandAborted Command...
Page 180 4 Robot Instructions In-Out Variables Valid Name Meaning Data type Description range AxesGroup Axes Group _sGROUP_REF Specify the axes group. Function • This instruction jogs the specified robot (axes group) at the velocity set in Velocity (Target Velocity). • To jog the robot in the positive direction, change PositiveEnable (Positive Direction Enable) variables to TRUE.
Page 181 4 Robot Instructions Precautions for Correct Use • If a PositiveEnable (Positive Direction Enable) variable and a NegativeEnable (Negative Direction Enable) variable change from FALSE to TRUE at the same time, the PositiveEn- able (Positive Direction Enable) variable takes priority and jogging is performed in the posi- tive direction.
Page 182 4 Robot Instructions Jog Mode Selection Three jog modes are defined in the current specification (MACHINE, USER, and TOOL).  MACHINE (_mcMachineMode) The selected TCP is moving along the Cartesian Coordinates of the machine coordinate system (MCS). Rotations are performed around the tool coordinate system (TCS) of the selected tool. It is the default jog mode.
Page 183 4 Robot Instructions Timing Charts PositiveEnable_X NegativeEnable_X Busy CommandAborted Error ErrorID 16#0000 Target velocity Velocity in XMCS direction Time Acceleration rate Deceleration rate *1. Decelerates to a stop due to an error in another instruction. 4 - 79 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 184 4 Robot Instructions Re-execution of Motion Control Instructions This section describes re-execution in the same direction and in a different direction.  Restarting with Enable in the Same Direction If you change a PositiveEnable (Positive Direction Enable) variable to TRUE when it is FALSE and the axes are decelerating, the axes will begin to accelerate towards the target velocity.
Page 185 4 Robot Instructions Errors If an error occurs during instruction execution, Error will change to TRUE. You can find out the cause of the error by referring to the value output by ErrorID (Error Code). PositiveEnable_X NegativeEnable_X PositiveEnable_Y NegativeEnable_Y PositiveEnable_Z NegativeEnable_Z Busy CommandAborted...
Page 186: Mc_Groupsyncmoveabsolute
4 Robot Instructions MC_GroupSyncMoveAbsolute The MC_GroupSyncMoveAbsolute instruction cyclically outputs target positions in the axis coordinate systems set for the axes. Instruction Name Graphic expression ST expression MC_GroupSyncMove Axes MC_GroupSyncMoveAbsolute_instance ( MC_GroupSyncMoveAbsolute_instance Absolute Group AxesGroup :=parameter, MC_GroupSyncMoveAbsolute Cyclic Syn- Execute :=parameter, AxesGroup AxesGroup chronous...
Page 187 4 Robot Instructions Execute the MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Position- ing) instruction. The instruction outputs target positions (A0i, A1i, A2i) to the Servo Drive. Precautions for Correct Use If you perform positioning with the MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchro- nous Absolute Positioning) instruction, the workspace check is not performed.
Page 188: Multi-Execution Of Motion Control Instructions
4 Robot Instructions Multi-execution of Motion Control Instructions You can execute some robot instructions during execution of another robot instruction. The robot instructions you can execute also vary depending on their BufferMode (Buffer Mode Selec- tion). This section describes the robot instructions that you can execute and that you cannot execute for each mode.
Page 189: Multi-Execution In Buffered Mode
4 Robot Instructions 4-2-2 Multi-execution in Buffered Mode The following table shows the instructions executed with BufferMode (Buffer Mode Selection) set to Buffered (standby). The robot instructions that are not listed in the table are the instructions for which you cannot select Buffered in BufferMode (Buffer Mode Selection).
Page 190: Multi-Execution In Blending Mode
4 Robot Instructions 4-2-3 Multi-execution in Blending Mode The following table shows the instructions executed with BufferMode (Buffer Mode Selection) set to Blending (mixing). The robot instructions that are not listed in the table are the instructions for which you cannot select Blending in BufferMode (Buffer Mode Selection).
Page 191 4 Robot Instructions Precautions for Correct Use • If the current position in the current instruction is already higher than the Transition Start Height, transition starts immediately and an observation occurs. • If duration of the buffered instruction is the same as or shorter than the transition time, an error occurs.
Page 192 4 Robot Instructions _mcTMStartRemainingTime (Start Remaining Time) If the TransitionMode (Transition Mode) input variable is set to _mcTMStartRemainingTime (Start remaining time), the next instruction is blended with the current instruction. The value of the Transition Start Time set in the TransitionParameter (Transition Parameters) input vari- able determines the blended part of the instruction.
Page 193 4 Robot Instructions  Trajectory for Time-specified Absolute Positioning The following figure shows the TCP trajectory for two Time-specified Absolute Positioning instruc- tions. No transition Start remaining time Symbol Description The current instruction The next instruction The time at which transition is started.
Page 194 4 Robot Instructions Transition Start Time is compared with the values in the following table: Synchronized stop with Deceleration Synchronized Deceleration by DecelerationTrigger has already stop is on going has not started yet finished Remaining time of Maximum value of remaining time of cur- Maximum value of Remaining time in Z current instruction...
Page 195: State Transitions Of Robot Instructions
4 Robot Instructions State Transitions of Robot Instruc- tions The following figure shows the axes group status (_MC_GRP[0-31].Status) during robot instruction exe- cution. The state transition of robot instructions are the same as that of the instructions for NJ501-1 Units. MC_MoveTimeAbsolute MC_SyncLinearConveyor MC_SyncOut...
Page 196: Sample Programming
4 Robot Instructions Sample Programming In this section, the program for conveyor tracking is given as an example. The system consists of five axes including Delta3R and a conveyor with one axis. This example assumes that the axis settings and axes group settings are already completed on the Sysmac Studio.
Page 197 4 Robot Instructions Set the Delta3R kinematics transform data for the axes group 0 to enable the axes group. Set kinematics transform Ins_SetKinTransform MC_SetKinTransform SKT_Done MC_Group000 AxesGroup AxesGroup MC_Group000 SKT_Exe Execute Done SKT_KT KinTransform Busy SKT_Busy SKT_W Workspace CommandAborted SKT_CommandAborted SKT_EnW EnableWorkspace Error...
Page 198 4 Robot Instructions Move the robot to the standby position. Execute MC_MoveTimeAbsolute Ins_MoveTimeAbsolute MC_MoveTimeAbsolute MTA_Done MC_Group000 AxesGroup AxesGroup MC_Group000 MTA_Exe Execute Done MTA_Pos Position Busy MTA_Busy MTA_Dir Direction Active MTA_Active MTA_TD TrajData CommandAborted MTA_CommandAborted MTA_CS CoordSystem Error MTA_Error MTA_CSID CSID ErrorID MTA_ErrorID MTA_TID...
Page 199: Vision & Robot Integrated Simulation
Vision & Robot Integrated Simulation This chapter describes the Vision & Robot integrated simulation, a function to simulate the pick-and-place application where this Controller is used in combination with one or more vision sensors and robots. 5-1 Overview of Simulation ......... 5-2 5-2 Models that Support Simulation .
Page 200: Overview Of Simulation
5 Vision & Robot Integrated Simulation Overview of Simulation When you consider newly introducing a pick-and-place application device, you need to perform verifica- tion based on the actual device environment. System/line Preliminary study, proposals manufacturing to meet end user demands Work process Process (Phase) Negotiations...
Page 201: Models That Support Simulation
5 Vision & Robot Integrated Simulation Models that Support Simulation This section provides an example of system configuration that enables you to perform a simulation in the pick-and-place application, where this Controller is used in combination with one or more vision sensors and robots.
Page 202 5 Vision & Robot Integrated Simulation  Servo for Driving Conveyors A conveyor drive system consists of a combination of two elements, the conveyor drive source and the device to detect the travel distance of the conveyor. The following table shows the possible com- binations of the conveyor drive source and the device to detect the travel distance of the conveyor.
Page 203: Simulation Procedures
5 Vision & Robot Integrated Simulation Simulation Procedures Use the following flow chart to perform a Vision & Robot integrated simulation. For details on the procedure for each operation in the flow chart, refer to the Vision & Robot Inte- grated Simulation Startup Guide (Cat.
Page 204 5 Vision & Robot Integrated Simulation 5 - 6 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 205: Troubleshooting
Troubleshooting This section describes the errors (events) that can occur and the corrections for them. 6-1 Error Table ........... 6-2 6-2 Error Description .
Page 206: Error Table
6 Troubleshooting Error Table The following table lists the errors (events) that can occur when a robot instruction is executed or when a robot instruction execution is in progress. Only the errors (events) that are directly attributed to the robot instructions are listed in this table. The robot instructions can also be a new cause of some errors related to NJ501-1...
Page 207 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 542C0000 hex Coordinate The parameter • Instruction input parameter P. 6-25 System specified for the exceeded the valid range of Selection CoordSystem input the input variable. Out of variable to a motion Range...
Page 208 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 543F0000 hex Multi-axes A multi-axes • A multi-axes coordinated P. 6-30 Coordinated coordinated control control instruction was Control instruction was executed for an axes group Instruction executed for an that was in a GroupDisable...
Page 209 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 54610000 hex Illegal Axes The axes group • An axes group does not P. 6-33 Group specified for the exist for the variable Specification AxesGroup input specified for the AxesGroup variable to a motion input variable to the...
Page 210 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 57060000 hex Axes Group The configuration • The number of axes in the P. 6-37 Mismatch elements of the axes group and the number with specified axes of axes in the specified robot Kinematics...
Page 211 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 570C0000 hex Coordinate The coordinate • The coordinate P. 6-40 Transformati transformation transformation parameter parameter Pose, Pose is outside the setting Parameter which was specified range.
Page 212 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 57140000 hex Trajectory TrajTime specified • TrajTime is outside the P. 6-43 Target Time for the TrajData setting range. Out of input variable to a Range motion control instruction is out of...
Page 213 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 571C0000 hex Cannot The MC_SyncOut • The P. 6-47 Cancel instruction cannot MC_SyncLinearConveyor Synchroniza be executed. instruction was not tion executed. • The MC_SyncLinearConveyor instruction execution is in progress, but synchronization is not currently performed.
Page 214 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 57370000 hex Motion An input variable • MoveTrajType or P. 6-51 Control that cannot be SyncTrajType for the current Instruction changed was instruction do not match Multi-executi changed during MoveTrajType or...
Page 215 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 64430000 hex Positive An instruction was • An instruction for a motion in P. 6-55 Limit Input executed for a the positive direction was motion in the executed when the positive positive direction limit input was ON, or an...
Page 216 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 645B0000 hex Maximum The command • The trajectory data for the P. 6-59 Interpolation acceleration rate current instruction is Acceleration exceeded the incorrect. Error maximum •...
Page 217 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 67040000 hex Acceleration The command • The combination of P. 6-63 Error acceleration rate parameters specified for the Detection exceeded the TrajData input variable MaxAcceleration caused a too high command specified for the acceleration rate.
Page 218 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 54015424 hex Decelera- The parameter • Instruction input parameter P. 6-67 tion Setting specified for the exceeded the valid range of Out of Deceleration input the input variable.
Page 219 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 5401543E hex Instruction • A motion instruc- • A motion instruction was P. 6-73 Cannot Be tion was exe- executed for an axis or an Executed cuted for an axis axes group that was in a...
Page 220 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 54015461 hex Illegal Axes The axes group • An axes group does not P. 6-78 Group specified for the exist for the variable Specification AxesGroup input specified for the AxesGroup variable to a motion input variable to the...
Page 221 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 54015707 hex Kinematics KinType specified • KinType is outside the P. 6-82 Type Out of for the setting range. Range KinTransform input variable to a motion control instruction is out of range.
Page 222 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info 54015711 hex Target The position • Specified wrong value of √ P. 6-86 Position Out parameter specified Position input. of Range as variable for the Position is out of range.
Page 223 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 5401571A hex Invalid The axis specified • The specified axis is P. 6-90 Conveyor for the registered in the axes group Axis ConveyorAxis in-out which is specified for Specified variable to a motion AxesGroup.
Page 224 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 54015744 hex Jog Mode The JogMode input • The JogMode input variable P. 6-96 Out of variable to the to the MC_RobotJog Range MC_RobotJog instruction is outside the instruction is out of setting range.
Page 225 6 Troubleshooting Level Event code Event name Meaning Assumed cause Reference Min Obs Info √ 54016701 hex Current The current position • The current position was P. 6-103 Position was outside the outside the workspace when Outside workspace when an one of the following Workspace instruction was...
Page 226: Error Description
Continues: Execution of the user program will continue. Stops: Execution of the user program stops. Starts: Execution of the user program starts. *5. If "System Information" is displayed, the information is for OMRON. 6 - 22 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 227: Error Descriptions
6 Troubleshooting 6-2-2 Error Descriptions Errors Related to Robot Control Function Event name Target Velocity Setting Out of Range Event code 54220000 hex Meaning The parameter specified for the Velocity input variable to a motion control instruction is out of range. Motion Control Function Module Axis/axes group Detection At instruction...
Page 228 6 Troubleshooting Event name Acceleration Setting Out of Range Event code 54230000 hex Meaning The parameter specified for the Acceleration input variable to a motion control instruction is out of range. Motion Control Function Module Axis/axes group Detection At instruction Source Source details timing...
Page 229 6 Troubleshooting Event name Buffer Mode Selection Out of Range Event code 542B0000 hex Meaning The parameter specified for the BufferMode input variable to a motion control instruction is out of range. Motion Control Function Module Axis/axes group Detection At instruction Source Source details timing...
Page 230 6 Troubleshooting Event name Direction Selection Out of Range Event code 542E0000 hex Meaning The parameter specified for the Direction input variable to a motion control instruction is out of range. Motion Control Function Module Axis Detection At instruction Source Source details timing execution...
Page 231 6 Troubleshooting Event name Motion Control Instruction Re-execution Disabled Event code 543B0000 hex Meaning An attempt was made to re-execute a motion control instruction that cannot be re-executed. Motion Control Function Module MC common, At instruction Detection Source Source details axis, or axes execution timing...
Page 232 6 Troubleshooting Event name Motion Control Instruction Multi-execution Disabled Event code 543C0000 hex Multiple functions that cannot be executed simultaneously were executed for the same target (MC common, Meaning axis, or axes group). Motion Control Function Module MC common, At instruction axis, or axes Detection execution or at...
Page 233 6 Troubleshooting Instruction Cannot Be Executed during Multi-axes 543E0000 hex Event name Event code Coordinated Control • A motion instruction was executed for an axis or an axes group that was in a coordinated multi-axes motion. Meaning • A robot instruction that you cannot use for an axes group in a GroupEnable state was executed. Motion Control Function Module Axis/axes group At instruction...
Page 234 6 Troubleshooting Multi-axes Coordinated Control Instruction Exe- 543F0000 hex Event name Event code cuted for Disabled Axes Group A multi-axes coordinated control instruction was executed for an axes group that was in a GroupDisable Meaning state. Motion Control Function Module Axes group Detection At instruction...
Page 235 6 Troubleshooting Impossible Axis Operation Specified when the Servo 54410000 hex Event name Event code is OFF Meaning A motion instruction was executed for an axis for which the Servo is OFF. Motion Control Function Module Axis/axes group Detection At instruction Source Source details timing...
Page 236 6 Troubleshooting Event name Composition Axis Stopped Error Event code 54420000 hex A motion instruction was executed for an axes group while the MC_Stop instruction was being executed for Meaning a composition axis. Motion Control Function Module Axes group Detection At instruction Source Source details...
Page 237 6 Troubleshooting Motion Control Instruction Re-execution Disabled 54570000 hex Event name Event code (Axes Group Specification) An attempt was made to change the parameter for the AxesGroup input variable when re-executing a Meaning motion control instruction. (This input variable cannot be changed when re-executing an instruction.) Motion Control Function Module Axes group Detection...
Page 238 6 Troubleshooting Event name Instruction Execution Error with Undefined Home Event code 54660000 hex High-speed homing, an interpolation instruction, or a robot instruction was executed when home was unde- Meaning fined. Motion Control Function Module Axis/axes group Detection At instruction Source Source details timing...
Page 239 6 Troubleshooting Event name Target Position Setting Out of Range Event code 54780000 hex Meaning The parameter specified for the Position input variable to a motion control instruction is out of range. Motion Control Function Module Axis/axes group Detection At instruction Source Source details timing...
Page 240 6 Troubleshooting Event name Kinematics Unsupported Instruction Event code 57050000 hex An attempt was made to execute an instruction that cannot be used for an axes group for which the kinemat- Meaning ics transform was set. Motion Control Function Module Axes group Detection At instruction...
Page 241 6 Troubleshooting Event name Axes Group Mismatch with Kinematics Event code 57060000 hex Meaning The configuration elements of the specified axes group and the specified kinematics do not match. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution Error...
Page 242 6 Troubleshooting Event name Kinematics Parameter Out of Range Event code 57080000 hex KinParam or ExpansionParam specified for the KinTransform input variable to a motion control instruction is Meaning out of range. Motion Control Function Module Axes group Detection At instruction Source Source details timing...
Page 243 6 Troubleshooting Event name Workspace Parameter Out of Range Event code 570A0000 hex Meaning WorkspaceParam specified for the Workspace input variable to a motion control instruction is out of range. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution...
Page 244 6 Troubleshooting Event name Coordinate Transformation Parameter Out of Range Event code 570C0000 hex The coordinate transformation parameter Pose, which was specified for the CoordTransform input variable Meaning to a motion control instruction, is out of range. Motion Control Function Module MC common Detection At instruction...
Page 245 6 Troubleshooting Event name Cannot Calculate Kinematics Event code 570F0000 hex Meaning The inverse kinematics or direct kinematics cannot be calculated. Motion Control Function Module Axes group At or during Detection Source Source details instruction exe- timing cution Error Minor fault Error reset System Level...
Page 246 6 Troubleshooting Event name Target Position Out of Range Event code 57110000 hex Meaning The position parameter specified as variable for the Position is out of range Motion Control Function Module MC common Detection At instruction Source Source details timing execution Error Minor fault...
Page 247 6 Troubleshooting Event name Acceleration Error Detection Value Out of Range Event code 57130000 hex Meaning MaxAcceleration specified for the TrajData input variable to a motion control instruction is out of range. Motion Control Function Module Axes group Detection At instruction Source Source details timing...
Page 248 6 Troubleshooting Event name Trajectory Type Out of Range Event code 57150000 hex MoveTrajType or SyncTrajType specified for the TrajData input variable to a motion control instruction is out Meaning of range. Motion Control Function Module Axes group Detection At instruction Source Source details timing...
Page 249 6 Troubleshooting Event name Trajectory Travel Distance Out of Range Event code 57170000 hex Meaning TrajDistance specified for the TrajData input variable to a motion control instruction is out of range. Motion Control Function Module Axes group Detection At instruction Source Source details timing...
Page 250 6 Troubleshooting Event name Invalid Conveyor Axis Specified Event code 571A0000 hex Meaning The axis specified for the ConveyorAxis in-out variable to a motion control instruction is not correct. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution Error...
Page 251 6 Troubleshooting Event name Cannot Cancel Synchronization Event code 571C0000 hex Meaning The MC_SyncOut (End Synchronization) instruction cannot be executed. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution Error Minor fault Error reset System Level Recovery Log category...
Page 252 6 Troubleshooting Event name Kinematics Initialization Error Event code 571F0000 hex Meaning Kinematics initialization failed. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution Error Minor fault Error reset System Level Recovery Log category attributes Continues.
Page 253 6 Troubleshooting Event name Invalid Tool Number Event code 57320000 hex The tool ID specified for the ToolID input variable to a motion control instruction is out of range or not Meaning defined. Motion Control Function Module Axes group Detection At instruction Source Source details...
Page 254 6 Troubleshooting Event name Unsupported Transition Data Event code 57340000 hex The transition mode specified for the TransitionMode input variable to a motion control instruction does not Meaning support the current instruction or the buffered instruction. Motion Control Function Module Axes group Detection At instruction...
Page 255 6 Troubleshooting Motion Control Instruction Multi-execution Disabled 57370000 hex Event name Event code (Trajectory Type) Meaning An input variable that cannot be changed was changed during multi-execution of instructions. Motion Control Function Module Axes group At multi-execu- Detection Source Source details tion of instruc- timing tions...
Page 256 6 Troubleshooting Event name Jog Mode Out of Range Event code 57440000 hex Meaning The JogMode input variable to the MC_RobotJog (Axes Group Jog) instruction is out of range. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution Error...
Page 257 6 Troubleshooting Event name Maximum Interpolation Velocity Out of Range Event code 57460000 hex The MaxVelocityTCP input variable to the MC_SetKinTransform (Set Kinematics Transformation) instruction Meaning is out of range. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution...
Page 258 6 Troubleshooting Event name Maximum Interpolation Deceleration Out of Range Event code 57480000 hex The MaxDecelerationTCP input variable to the MC_SetKinTransform (Set Kinematics Transformation) Meaning instruction is out of range. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution...
Page 259 6 Troubleshooting Event name Positive Limit Input Event code 64430000 hex Meaning An instruction was executed for a motion in the positive direction when the positive limit input was ON. Motion Control Function Module Axis/axes group Detection At instruction Source Source details timing execution...
Page 260 6 Troubleshooting Event name Negative Limit Input Event code 64440000 hex Meaning An instruction for a motion in the negative direction was executed when the negative limit input was ON. Motion Control Function Module Axis/axes group Detection At instruction Source Source details timing execution...
Page 261 6 Troubleshooting Event name Home Undefined during Coordinated Motion Event code 64590000 hex Meaning Home of the logical axis became undefined during axes group motion or while decelerating to a stop. Motion Control Function Module Axes group Detection During instruc- Source Source details timing...
Page 262 6 Troubleshooting Event name Maximum Interpolation Velocity Error Event code 645A0000 hex The command velocity exceeded the maximum interpolation velocity specified for the MaxVelocityTCP input Meaning variable to the MC_SetKinTransform (Set Kinematics Transformation) instruction. Motion Control Function Module Axes group Detection During instruc- Source...
Page 263 6 Troubleshooting Event name Maximum Interpolation Acceleration Error Event code 645B0000 hex The command acceleration rate exceeded the maximum interpolation acceleration specified for the MaxAc- Meaning celerationTCP input variable to the MC_SetKinTransform (Set Kinematics Transformation) instruction. Motion Control Function Module Axes group Detection During instruc-...
Page 264 6 Troubleshooting Event name Maximum Interpolation Deceleration Error Event code 645C0000 hex The command deceleration rate exceeded the maximum interpolation deceleration specified for the MaxDe- Meaning celerationTCP input variable to the MC_SetKinTransform (Set Kinematics Transformation) instruction. Motion Control Function Module Axes group Detection During instruc-...
Page 265 6 Troubleshooting Event name Current Position Outside Workspace Event code 67010000 hex Meaning The current position was outside the workspace when an instruction was executed. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution Error Minor fault Error reset System...
Page 266 6 Troubleshooting Event name Workpiece Synchronization Excessive Following Error Event code 67020000 hex Meaning The robot could not catch up the workpiece on the conveyor. Motion Control Function Module Axes group Detection During instruc- Source Source details timing tion execution Error Minor fault Error reset...
Page 267 6 Troubleshooting Event name Acceleration Error Detection Event code 67040000 hex The command acceleration rate exceeded the MaxAcceleration specified for the TrajData input variable to a Meaning motion control instruction. Motion Control Function Module Axes group At or during Detection Source Source details instruction exe-...
Page 268 6 Troubleshooting Event name Axes Group Composition Axis Error Event code 74300000 hex Meaning An error occurred for an axis in an axes group. Motion Control Function Module Axes group Detection Continuously Source Source details timing Error Minor fault Error reset System Level Recovery...
Page 269 6 Troubleshooting Event name Conveyor Axis Position Read Error Event code 77000000 hex The MC_SyncLinearConveyor (Start Conveyor Synchronization) instruction cannot be executed due to a Meaning conveyor axis position error. Motion Control Function Module Axes group Detection At instruction Source Source details timing execution...
Page 270 6 Troubleshooting Event name Transition Parameter Adjusted Event code 94230000 hex Meaning The specified TransitionParameter input variable was adjusted before transition started. Motion Control Function Module Axes group At multi-execu- Detection Source Source details tion of instruc- timing tions Error Observation Error reset System...
Page 271 6 Troubleshooting Event name Acceleration Setting Out of Range Event code 54015423 hex Meaning The parameter specified for the Acceleration input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 272 6 Troubleshooting Event name Buffer Mode Selection Out of Range Event code 5401542B hex Meaning The parameter specified for the BufferMode input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution...
Page 273 6 Troubleshooting Event name Direction Selection Out of Range Event code 5401542E hex Meaning The parameter specified for the Direction input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 274 6 Troubleshooting Event name Transition Mode Selection Out of Range Event code 54015432 hex Meaning The parameter specified for the TransitionMode input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution...
Page 275 6 Troubleshooting Event name Motion Control Instruction Re-execution Disabled Event code 5401543B hex Meaning An attempt was made to re-execute a motion control instruction that cannot be re-executed. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error Observation System...
Page 276 6 Troubleshooting Event name Motion Control Instruction Multi-execution Disabled Event code 5401543C hex Multiple functions that cannot be executed simultaneously were executed for the same target (MC common, Meaning axis, or axes group). PLC Function Module Instruction Detection At instruction Source Source details timing...
Page 277 6 Troubleshooting Instruction Cannot Be Executed during Multi-axes 5401543E hex Event name Event code Coordinated Control • A motion instruction was executed for an axis or an axes group that was in a coordinated multi-axes motion. Meaning • A robot instruction that you cannot use for an axes group in a GroupEnable state was executed. PLC Function Module Instruction Detection...
Page 278 6 Troubleshooting Multi-axes Coordinated Control Instruction Exe- 5401543F hex Event name Event code cuted for Disabled Axes Group A multi-axes coordinated control instruction was executed for an axes group that was in a GroupDisable Meaning state. PLC Function Module Instruction Detection At instruction Source...
Page 279 6 Troubleshooting Impossible Axis Operation Specified when the Servo 54015441 hex Event name Event code is OFF Meaning A motion instruction was executed for an axis for which the Servo is OFF. PLC Function Module Instruction Detection At instruction Source Source details timing execution...
Page 280 6 Troubleshooting Event name Composition Axis Stopped Error Event code 54015442 hex A motion instruction was executed for an axes group while the MC_Stop instruction was being executed for Meaning a composition axis. PLC Function Module Instruction Detection At instruction Source Source details timing...
Page 281 6 Troubleshooting Motion Control Instruction Multi-execution Buffer 54015443 hex Event name Event code Limit Exceeded The number of motion control instructions that is buffered for Buffered or Blending Buffer Modes exceeded Meaning the buffer limit. PLC Function Module Instruction Detection At instruction Source Source details...
Page 282 6 Troubleshooting Event name Illegal Axes Group Specification Event code 54015461 hex The axes group specified for the AxesGroup input variable to a motion control instruction does not exist or is Meaning not a used axes group. PLC Function Module Instruction Detection At instruction...
Page 283 6 Troubleshooting Event name Instruction Execution Error with Undefined Home Event code 54015466 hex High-speed homing, an interpolation instruction, or a robot instruction was executed when home was unde- Meaning fined. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 284 6 Troubleshooting Event name Target Position Setting Out of Range Event code 54015478 hex Meaning The parameter specified for the Position input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution...
Page 285 6 Troubleshooting Event name Axes Group Mismatch with Kinematics Event code 54015706 hex Meaning The configuration elements of the specified axes group and the specified kinematics do not match. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error Observation...
Page 286 6 Troubleshooting Event name Kinematics Type Out of Range Event code 54015707 hex Meaning KinType specified for the KinTransform input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 287 6 Troubleshooting Event name Workspace Type Out of Range Event code 54015709 hex Meaning WorkspaceType specified for the Workspace input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 288 6 Troubleshooting Event name Invalid Coordinate System Number Event code 5401570B hex The coordinate system ID specified for the CSID input variable to a motion control instruction is out of range Meaning or not defined. PLC Function Module Instruction Detection At instruction Source Source details...
Page 289 6 Troubleshooting Event name Coordinate Transformation Parameter Out of Range Event code 5401570C hex The coordinate transformation parameter Pose, which was specified for the CoordTransform input variable Meaning to a motion control instruction, is out of range. PLC Function Module Instruction Detection At instruction...
Page 290 6 Troubleshooting Event name Kinematics Transform Not Set Event code 54015710 hex Meaning The kinematics transform is not set for the specified axes group. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error Observation System Level Recovery Log category attributes...
Page 291 6 Troubleshooting Event name Velocity Error Detection Value Out of Range Event code 54015712 hex Meaning MaxVelocity specified for the TrajData input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution...
Page 292 6 Troubleshooting Event name Trajectory Target Time Out of Range Event code 54015714 hex Meaning TrajTime specified for the TrajData input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 293 6 Troubleshooting Event name Trajectory Transition Out of Range Event code 54015716 hex Meaning TrajTransition specified for the TrajData input variable to a motion control instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 294 6 Troubleshooting Event name Initial Workpiece Position Outside Workspace Event code 54015719 hex The position of the workpiece specified for the InitWorkpiecePosition input variable to a motion control Meaning instruction is outside the workspace. PLC Function Module Instruction Detection At instruction Source Source details timing...
Page 295 6 Troubleshooting Event name Target Position Outside Workspace Event code 5401571B hex The target position specified for the Position input variable to a motion control instruction is outside the work- Meaning space. PLC Function Module Instruction Detection At instruction Source Source details timing execution...
Page 296 6 Troubleshooting Event name Cannot Cancel Synchronization Event code 5401571C hex Meaning The MC_SyncOut (End Synchronization) instruction cannot be executed. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error Observation System Level Recovery Log category attributes Continues The relevant instruction will end according to specifi- Effects...
Page 297 6 Troubleshooting Event name Too Many Kinematics Event code 5401571E hex Meaning The number of kinematics exceeded the limit. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error Observation System Level Recovery Log category attributes Continues The relevant instruction will end according to specifi- Effects User program...
Page 298 6 Troubleshooting Event name Kinematics Initialization Error Event code 5401571F hex Meaning Kinematics initialization failed. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error Observation System Level Recovery Log category attributes Continues The relevant instruction will end according to specifi- Effects User program Operation...
Page 299 6 Troubleshooting Event name Invalid Tool Number Event code 54015732 hex The tool ID specified for the ToolID input variable to a motion control instruction is out of range or not Meaning defined. PLC Function Module Instruction Detection At instruction Source Source details timing...
Page 300 6 Troubleshooting Event name Offset Not Allowed Event code 54015736 hex During the MC_SyncLinearConveyor (Start Conveyor Synchronization) instruction execution, the offset Meaning function can be used only in Phase6. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error Observation...
Page 301 6 Troubleshooting Event name Initial Workpiece Position Out of Range Event code 54015745 hex The InitWorkpiecePosition input variable to the MC_SyncLinearConveyor (Start Conveyor Synchronization) Meaning instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 302 6 Troubleshooting Event name Maximum Interpolation Velocity Out of Range Event code 54015746 hex The MaxVelocityTCP input variable to the MC_SetKinTransform (Set Kinematics Transformation) instruction Meaning is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 303 6 Troubleshooting Event name Maximum Interpolation Acceleration Out of Range Event code 54015747 hex The MaxAccelerationTCP input variable to the MC_SetKinTransform (Set Kinematics Transformation) Meaning instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 304 6 Troubleshooting Event name Maximum Interpolation Deceleration Out of Range Event code 54015748 hex The MaxDecelerationTCP input variable to the MC_SetKinTransform (Set Kinematics Transformation) Meaning instruction is out of range. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 305 6 Troubleshooting Event name Positive Limit Input Event code 54016443 hex Meaning An instruction was executed for a motion in the positive direction when the positive limit input was ON. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 306 6 Troubleshooting Event name Negative Limit Input Event code 54016444 hex Meaning An instruction for a motion in the negative direction was executed when the negative limit input was ON. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error...
Page 307 6 Troubleshooting Event name Current Position Outside Workspace Event code 54016701 hex Meaning The current position was outside the workspace when an instruction was executed. PLC Function Module Instruction Detection At instruction Source Source details timing execution Error Observation System Level Recovery Log category...
Page 308 6 Troubleshooting 6 - 104 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 309: Appendices
Appendices This chapter describes how to enable/disable the Sysmac Studio Robot Additional Option and provides information on each function offered by this option. It also describes how to enable/disable the Sysmac Studio robot options. A-1 Sysmac Studio Robot Additional Option ......A-2 A-1-1 Enabling the Sysmac Studio Robot Additional Option .
Page 310: Sysmac Studio Robot Additional Option
Appendices A-1 Sysmac Studio Robot Additional Option To perform a Vision & Robot integrated simulation, you need to purchase the “Robot Additional Option,” a Sysmac Studio option. To enable the Robot Additional Option, you need to register your license in the Sysmac Studio version 1.14 or higher.
Page 311 Appendices If the license is registered successfully, the following message appears. Click the OK Button to close the window. Confirm that Robot Additional Option is displayed under Installed products as shown below. Restart the Sysmac Studio. A - 3 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 312: A-1-2 Disabling The Sysmac Studio Robot Additional Option
Appendices A-1-2 Disabling the Sysmac Studio Robot Additional Option Use the following procedure to disable the Sysmac Studio Robot Additional Option or to move the license of the Sysmac Studio Robot Additional Option from a computer to another. Start the Sysmac Studio and click the License Button on the left side of the startup window. Then, click the Deregister License Button.
Page 313 Appendices Confirm that Robot Additional Option is not displayed under Installed products as shown below. Restart the Sysmac Studio. A - 5 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 314: A-1-3 3D Equipment Model Creation Wizard
Appendices A-1-3 3D Equipment Model Creation Wizard The 3D Equipment Model Creation Wizard allows you to select how many conveyors for picking, how many conveyors for placing, and how many robots to use for the target pick-and-place application to configure 3D machine models for conveyors and robots. After you complete the settings in this wizard, calibration parameters that represent the coordinate transformation data for each 3D machine model is generated automatically.
Page 315 Appendices 3D Machine Model Settings Use this window to configure the position and size parameters of each 3D machine model. Refer to A-1-4 3D Machine Models on page A-8 for details on each 3D machine model. Symbol Name Description Navigation area This area displays the step numbers of the wizard and the name of the current 3D machine model.
Page 316: A-1-4 3D Machine Models
Appendices A-1-4 3D Machine Models This section describes the parameters of the 3D machine models that you can use with the Robot Addi- tional Option. Use the 3D machine models described here in a Vision & Robot integrated simulation. Conveyor for Picking This model represents a conveyor for picking.
Page 317 Appendices  Settings The 3D machine model parameter setting area has the following settings. Name Data type Description Conveyor: Length LREAL Set the length of the conveyor's belt. Conveyor: Width LREAL Set the width of the conveyor's belt. Conveyor: Corresponding _sAXIS_REF Set the conveyor's encoder axis.
Page 318 Appendices Name Data type Description Tracking area: Position (X) LREAL Set the position of the conveyor area where robots can pick workpieces. This position must be set as an X-coordinate in the local coor- dinate system of the conveyor. You can set this for up to eight robots.
Page 319 Appendices Name Data type Description Vision sensor: Variables of sSimWorkInitial- Get device variables for the vision sensor. detected workpiece infor- Data From among these device variables, assign the necessary mation (User-defined) variables at once to the data type, which is a user-defined structure.
Page 320 Appendices Conveyor for Placing (Box) This model represents a conveyor for placing with boxes placed on it. It allows you to check whether workpieces are packed in boxes.  Components of this 3D Machine Model The 3D machine model for a Conveyor for placing (Box) has the components shown in the figure below.
Page 321 Appendices Name Data type Description Conveyor: Workpiece LREAL Set the height at which workpieces are considered to come in acceptance height contact with the conveyor. Any workpiece placed at this height or lower is considered to be in contact with the conveyor and moved in conjunction with the conveyor.
Page 322 Appendices Name Data type Description Tracking area: Length LREAL Set the length of the conveyor area where robots can place workpieces. You can set this for up to eight robots. Active robot Set the 3D machine model name for each Delta3/Delta3R robot that uses the conveyor.
Page 323 Appendices  Settings The 3D machine model parameter setting area has the following settings. Name Data type Description Conveyor: Length LREAL Set the length of the conveyor's belt. Conveyor: Width LREAL Set the width of the conveyor's belt. Conveyor: Workpiece LREAL Set the height at which workpieces are considered to come in acceptance height...
Page 324 Appendices Name Data type Description Trigger variable: Corre- BOOL Set the trigger variable that changes to TRUE when a border sponding variable line is detected. The border lines do not move until this trigger variable changes to TRUE. The trigger for the detection sensor is located at the starting point of the conveyor.
Page 325 Appendices Name Data type Description Fixed frame: Radius (Rf) LREAL Set the distance between the center of the fixed frame and the axis motor. (Unit: mm) Link 1: Length (Lf) LREAL Set the length of link 1. (Unit: mm) Link 2: Length (Lm) LREAL Set the length of link 2.
Page 326 Appendices Vacuum-type Robot Tool This model represents a robot tool that uses the suction of air to perform pick-and-place operation.  Components of this 3D Machine Model Refer to 2-3-8 Robot Tool on page 2-32 for details.  Operation of this 3D Machine Model •...
Page 327: A-1-5 Calculation Of Calibration Parameters
Appendices Item Data type Description Robot vacuum tool: Home LREAL Refer to 2-3-8 Robot Tool on page 2-32 for details. position in Tool Coordinate System (Tx) Robot vacuum tool: Home LREAL position in Tool Coordinate System (Ty) A-1-5 Calculation of Calibration Parameters To perform a Vision &...
Page 328: A-1-6 Display Of Images In 3D Motion Monitoring
Appendices A-1-6 Display of Images in 3D Motion Monitoring In a Vision & Robot integrated simulation, when you execute 3D motion monitoring after loading the trace data for a 3D equipment model for the pick-and-place application, it is possible to display the images of workpieces captured by the vision sensor in accordance with the operation timing of the 3D equipment model.
Page 329: A-2 Sysmac Studio Robot Options
Appendices A-2 Sysmac Studio Robot Options This section describes how to enable/disable the Sysmac Studio robot options. Version Information For the Sysmac Studio version 1.13 or lower, you need to enable the Sysmac Studio robot options to use the robot functions with an NJ Robotics CPU Unit (Model: NJ501-4). For the Sysmac Studio version 1.14 or higher, you can use the robot functions without enabling the robot options.
Page 330 Appendices Enter the robot options license number, and click the Register Button. If the license is registered successfully, the following message appears. Click the OK Button to close the window. Confirm that Robot Option is displayed under Installed products as shown below. Restart the Sysmac Studio.
Page 331: A-2-2 Disabling Sysmac Studio Robot Options
Appendices A-2-2 Disabling Sysmac Studio Robot Options Use the following procedure to disable the Sysmac Studio robot options or to move the license of the Sysmac Studio robot options from a computer to another. Start the Sysmac Studio and click the License Button on the left side of the startup window. Then, click the Deregister License Button.
Page 332 Appendices Confirm that Robot Option is not displayed under Installed products as shown below. Restart the Sysmac Studio. A - 24 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 333 Index I - 1 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Page 334 Index Index Numerics 3D Equipment Model Creation Wizard ......A-6 Limit settings ..............3-7 ACS ............... 2-5, 2-14 Machine coordinate system ........2-5, 2-14 Assumed cause .............. 6-2 MC Test Run ..............3-14 Axes group MCS ..............2-5, 2-14 Basic settings ............3-3 Operation settings ............
Page 336 The Netherlands Hoffman Estates, IL 60169 U.S.A Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 © OMRON Corporation 2015-2016 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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Omron NJ501-4500 Manual

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Contents

Terms and Conditions Agreement

Safety Precautions

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

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Terminology

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Section 1 Overview of NJ Robotics CPU Unit

Features and System Configuration of Unit

Operation Procedure of Unit

Specifications of Unit

Robot Control Configuration

Controllable Robot Types

Coordinate System

Robot Functions

Setting Group for Robot

Robot Kinematics Settings

Homing

Target Position and Direction Setting Method

Checking Wiring from the Sysmac Studio

Overview of Robot Instructions

Details on Robot Instructions

Multi-Execution of Motion Control Instructions

State Transitions of Robot Instructions

Sample Programming

Section 5 Vision & Robot Integrated Simulation

Overview of Simulation

Models that Support Simulation

Simulation Procedures

Section 6 Troubleshooting

Error Table

Error Description

Appendices

Sysmac Studio Robot Additional Option

A-2 Sysmac Studio Robot Options

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