4.4Interference Territory registration4.4Interference Territory registration
Interference Interference
In case that robot operating envelop overlaps with another In case that robot operating envelop overlaps with another
robot because they are installed so closely, robotrobot because they are installed so closely, robot
will collide each other when they run into the will collide each other when they run into the
overlapping area at the same time. This trouble can be avoided byoverlapping area at the same time. This trouble can be avoided by
using I/O interlocking signals. In advance, overlapping area (= Interference territory) must be defined in eachusing I/O interlocking signals. In advance, overlapping area (= Interference territory) must be defined in each
robot (controller).robot (controller).
In order to avoid the collisionIn order to avoid the collision
of robot in the interferenceof robot in the interference
territory, I/O signals are usedterritory, I/O signals are used
for interlocking.for interlocking.
“Interference Territory”“Interference Territory”
Overlapping area of robotOverlapping area of robot
operating envelop (defined asoperating envelop (defined as
box or sphere)box or sphere)
Interference TInterference T
Up to 16 interference territories can be registered per unit (the unit in which the programs is configured).Up to 16 interference territories can be registered per unit (the unit in which the programs is configured).
Input / output signals for Input / output signals for
interference territory are not assigned when shipped.interference territory are not assigned when shipped.
If this utility is necessary, these signals must be assigned by referring to “3.6 SignalIf this utility is necessary, these signals must be assigned by referring to “3.6 Signal
attribute settings”.attribute settings”.
Registering the interference TerritoryRegistering the interference Territory
First, teach the position that is First, teach the position that is
the “center” of interference territory using thethe “center” of interference territory using the
robot. Select any program, and record the robot. Select any program, and record the
actual position as a step.actual position as a step.
Select the teach mode.Select the teach mode.
Select <Constant Setting> - [9 Select <Constant Setting> - [9
Territory Definition] - [2 Territory Field].Territory Definition] - [2 Territory Field].
>>A screen such as the one shown belo>>A screen such as the one shown belo
w now appears.w now appears.
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