9.8.3 Interference Area
The interference area is a function that prevents interference between multiple manipulators
or the manipulator and peripheral device. The area can be set up to 16 areas. There are two types
of interference areas:
Cubic Interference Area
Axis Interference Area
9.8.3.1 Cubic Interference Area
This area is a rectangular parallelepiped which is parallel to the base coordinate (Cartesian
coordinate). The system judges whether TCP of the current position of the manipulator is inside
or outside this area, and outputs this status as a signal. (ON: inside, OFF: outside)
There are two ways to set cubic interference areas, as described in the following:
(1) Teaching Corner
Move the manipulator at the maximum and minimum value positions of the cube corner
using the axis keys, and record them respectively. Then press [SAVE] button in the submenu area,
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