Omron NJ501-4500 Manual page 76

2 Features of NJ Robotics CPU Unit
 Cartesian2DWorkspace
The shape of Cartesian2D workspace is a rectangular in specified plane.
Zm
Machine coordinate
system (MCS)
Set the following parameters.
Parameter
Org1 Origin of the workspace: the first coordinate (unit: mm)
Org2 Origin of the workspace: the second coordinate (unit: mm)
d1 Workspace dimension on the first coordinate direction (unit: mm)
d2 Workspace dimension on the second coordinate direction (unit: mm)
Plane Index to defined planes:
0: plane XY – the first coordinate is X and the second is Y
1: plane XZ – the first coordinate is X and the second is Z
2: plane YZ – the first coordinate is Y and the second is Z
 HBotWorkspace
The shape of H-Bot workspace is a rectangular in plane XY.
Ym
Machine coordinate
system (MCS)
Set the following parameters.
Parameter
X0 Origin of the workspace: X coordinate (unit: mm)
Y0 Origin of the workspace: Y coordinate (unit: mm)
dx Workspace dimension on the X direction (unit: mm)
dy Workspace dimension on the Y direction (unit: mm)
2 - 26
d2
d1
Origin of the workspace
(Org1, Org2)
Xm
Description
dy
dx
Origin of the workspace
(X0, Y0)
Xm
Description
Workspace
Workspace
NJ-series NJ Robotics CPU Unit User's Manual (W539)