Contents - Omron NJ501-4500 Manual

1-4 Robot Control Configuration.............................................................................................. 1-10
Section 2 Features of NJ Robotics CPU Unit
2-1 Controllable Robot Types ..................................................................................................... 2-2
2-2 Coordinate System................................................................................................................ 2-5
2-2-1 Overview of Coordinate Systems ............................................................................................... 2-5
2-2-2 Coordinate Systems ................................................................................................................. 2-14
2-3 Robot Functions .................................................................................................................. 2-15
2-3-1 Kinematics Setting .................................................................................................................... 2-15
2-3-2 Workspace Check..................................................................................................................... 2-23
2-3-3 User Coordinate System (UCS)................................................................................................ 2-29
2-3-4 Monitoring ................................................................................................................................. 2-30
2-3-5 Time-specified Absolute Positioning......................................................................................... 2-30
2-3-6 Conveyor Synchronization........................................................................................................ 2-31
2-3-7 Inverse Kinematics ................................................................................................................... 2-32
2-3-8 Robot Tool................................................................................................................................. 2-32
2-3-9 Robot Jogging........................................................................................................................... 2-34
2-3-10 Checking Maximum Interpolation Velocity and Maximum Interpolation
Acceleration/Deceleration......................................................................................................... 2-35
2-3-11 Multi-execution of Instructions with Buffered Mode .................................................................. 2-37
2-3-12 Multi-execution of Instructions with Blending Mode.................................................................. 2-37
2-3-13 Trajectory Types for Time-specified Motion .............................................................................. 2-38
Section 3 Setting Robot Functions
3-1 Setting Group for Robot ....................................................................................................... 3-2
3-1-1 Group Setting Procedures .......................................................................................................... 3-2
3-1-2 Axes Group Settings................................................................................................................... 3-3
3-1-3 Axis Settings ............................................................................................................................... 3-4
3-2 Robot Kinematics Settings................................................................................................... 3-9
3-3 Homing ................................................................................................................................. 3-10
3-4 Target Position and Direction Setting Method.................................................................. 3-11
3-4-1 Position Settings ........................................................................................................................3-11
3-4-2 Rotational Axis Control ..............................................................................................................3-11
3-5 Checking Wiring from the Sysmac Studio ........................................................................ 3-14
Section 4 Robot Instructions
4-1 Overview of Robot Instructions ........................................................................................... 4-2
4-1-1 List of Robot Instructions ............................................................................................................ 4-2
4-1-2 Axes Group Instructions Enabled/disabled................................................................................. 4-2
4-1-3 Robot Execution and Stop Instructions....................................................................................... 4-3
4-1-4 Unusable Output Variables of Axes Group ................................................................................. 4-4
Details on Robot Instructions........................................................................................................ 4-5
MC_SetKinTransform............................................................................................................................... 4-6
MC_DefineCoordSystem........................................................................................................................ 4-15
MC_DefineToolTransform ...................................................................................................................... 4-19
MC_GroupMon....................................................................................................................................... 4-23
MC_MoveTimeAbsolute ......................................................................................................................... 4-29
MC_SyncLinearConveyor ...................................................................................................................... 4-38
MC_SyncOut .......................................................................................................................................... 4-59
MC_InverseKin....................................................................................................................................... 4-68
MC_RobotJog ........................................................................................................................................ 4-73
MC_GroupSyncMoveAbsolute ............................................................................................................... 4-82
NJ-series NJ Robotics CPU Unit User's Manual (W539)

CONTENTS

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