Omron NJ501-4500 Manual page 58

2 Features of NJ Robotics CPU Unit
 Coordinate Systems for Cartesian 3D Gantry
A2
 Coordinate Systems for Cartesian 2D
A1
The Cartesian 2D kinematics can be arranged in the three coordinate planes:
• Cartesian XY kinematics
• Cartesian XZ kinematics
• Cartesian YZ kinematics
The figure is an example of Catersian XY kinematics.
2 - 8
A3
Zm
TCP
Machine coordinate
system (MCS)
A0
TCP
Zm
Machine coordinate
system (MCS)
A0
NJ-series NJ Robotics CPU Unit User's Manual (W539)
Zu
Yu
User coordinate
system (UCS)
Ym
A1
Xm
Zu
Yu
User coordinate
system (UCS)
Ym
Xm
Xu
Xu