4.4Interference Territory registration4.4Interference Territory registration
Press the <Complete> f key.Press the <Complete> f key.
This now completes the settings.This now completes the settings.
If plural interference territories need to be defined, switch the screen byIf plural interference territories need to be defined, switch the screen by
pressing [Prev No] or [Next pressing [Prev No] or [Next
No] key and continue the No] key and continue the
registration procedure.registration procedure.
Next, following I/O signals for all interference area need to be allocated.Next, following I/O signals for all interference area need to be allocated.
Basic output signal “Territory position 1 to 16”Basic output signal “Territory position 1 to 16”
“4.6 Signal attribute settings”“4.6 Signal attribute settings”
Furthermore, it is strongly recommended that logic of above output signal isFurthermore, it is strongly recommended that logic of above output signal is
changed to “N“. Select <Constant Setting> - [6 Signals] - [7 Signal Attribute] - [2changed to “N“. Select <Constant Setting> - [6 Signals] - [7 Signal Attribute] - [2
Output Signal], and change logic to “N” (negative) of the output signal which isOutput Signal], and change logic to “N” (negative) of the output signal which is
allocated to “Territory position 1 to 16” signal.allocated to “Territory position 1 to 16” signal.
This is a sample screen when This is a sample screen when
output signal No.10 is allocated to “Interference area”.output signal No.10 is allocated to “Interference area”.
When robot is When robot is
outside the interference territory, “interference area output signal” is outside the interference territory, “interference area output signal” is
getting into getting into
the interference the interference
“interference“interference
area input signal” ON.area input signal” ON.
Next, “Max. radius of tool”Next, “Max. radius of tool”
parameter needs to be defined.parameter needs to be defined.
4.5.6 Max. Radius of tool”4.5.6 Max. Radius of tool”
When checking the interferenceWhen checking the interference
between the robot (tool) andbetween the robot (tool) and
interference territory, tool shape isinterference territory, tool shape is
considered as the sphere whoseconsidered as the sphere whose
center is TCP (tool control point)center is TCP (tool control point)
and whose radius is “Max. Radiusand whose radius is “Max. Radius
of tool”. If tool scale is not to beof tool”. If tool scale is not to be
ignored, please define its size.ignored, please define its size.
Max. Radius of toolMax. Radius of tool
Example of “Box”Example of “Box”
(Tool Control Point)(Tool Control Point)
Tool shape is consideredTool shape is considered
as the sphere whoseas the sphere whose
center is TCP (tool controlcenter is TCP (tool control
point) and whose radius ispoint) and whose radius is
“Max. Radius of tool”.“Max. Radius of tool”.
Similar setting is necessary to the other robot that has same interferenceSimilar setting is necessary to the other robot that has same interference
In case that “Position” is set to except “Program” in stepIn case that “Position” is set to except “Program” in step
When set to “Manual” :When set to “Manual” :
Move the robot by manual operation to the center position of interferenceMove the robot by manual operation to the center position of interference
territory , and press f11 < Record Current Pterritory , and press f11 < Record Current P
osition. > key.osition. > key.
Current position is read from the robot encoder, and the position data is displayed inCurrent position is read from the robot encoder, and the position data is displayed in
When set to “Numerical” :When set to “Numerical” :
Directly key in the Directly key in the
XYZ value in XYZ value in
“Center” of interference territory“Center” of interference territory
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