Table of Contents
Advertisement
Setting for Cartesian 2D Gantry
Set the following parameters for Cartesian 2D Gantry.
A 2
Parameter
OffX
OffY
Err1
Err2
Gantry kinematics is based on the assumption that two linked axes (A0 and A1) are perfectly
aligned and equal. But in the actual robot, there is always a difference in positions between the two
linked axes of the gantry, A0 and A1.
Refer to Setting for Cartesian 3D Gantry on page 2-18 to prevent possible problems.
Precautions for Correct Use
• When using Cartesian 2D Gantry Kinematics, you have to configure parameters Err1 and
Err2. Those default values are 0, but cannot be used.
• Program to stop the robot if MC_GroupMon returns FALSE in Valid output because of actual
position error |A0-A1|.
NJ-series NJ Robotics CPU Unit User's Manual (W539)
A 0
The distance on X between MCS origin and TCP when all axes are 0 (unit:
mm)
The distance on Y between MCS origin and TCP when all axes are 0 (unit:
mm)
The maximum acceptable error of commanded positions between axes A0
and A1 (absolute value) (unit: mm)
The maximum acceptable error of actual positions between axes A0 and A1
(absolute value) (unit: mm)
2 Features of NJ Robotics CPU Unit
Zm
Ym
Xm
Z
(OffX, OffY, 0)
Y
Position of TCP
X
when all axes are 0
Description
Machine coordinate
system (MCS)
2
2 - 21
Advertisement
Table of Contents
