4.4Interference Territory registration4.4Interference Territory registration
the Interference the Interference
Special function is unnecessary to be recorded to check the interference of Special function is unnecessary to be recorded to check the interference of
While the check GO/BACK operation and playback operation, interference checking is automaticallyWhile the check GO/BACK operation and playback operation, interference checking is automatically
performed by following procedure when robot is getting into the interference territory. (In followingperformed by following procedure when robot is getting into the interference territory. (In following
description, R#1 means the subject robot and R#2 means the opposite robot that has same interferencedescription, R#1 means the subject robot and R#2 means the opposite robot that has same interference
territory with R#1.)territory with R#1.)
Here, “Territory position output signal” which is allocated by the pre-described procedure is directlyHere, “Territory position output signal” which is allocated by the pre-described procedure is directly
connected to “Tconnected to “T
erritory position input signal” of the erritory position input signal” of the
opposite robot without changing its logic.opposite robot without changing its logic.
Immediately befImmediately bef
ore R#1 gets ore R#1 gets
into the interference into the interference
erritory position erritory position
input signal”input signal”
erritory position input serritory position input s
ignal” was ON, Rignal” was ON, R
#1 turns OFF the “#1 turns OFF the “
erritory position ouerritory position ou
tput signal” and getstput signal” and gets
into the interference territory because R#2 is into the interference territory because R#2 is
outside the interference territoryoutside the interference territory
position input position input
is still in the interference territory), R#1 starts waiting untilis still in the interference territory), R#1 starts waiting until
R#2 goes out of the interference territory and “TerritoryR#2 goes out of the interference territory and “Territory
position input signal” is turned ON,. While waiting, rightposition input signal” is turned ON,. While waiting, right
message will be displayed.message will be displayed.
oes out of the oes out of the
interference territory interference territory
erritory position erritory position
input signal” is input signal” is
turns OFF the turns OFF the
erritory position output signal” erritory position output signal”
and gets into and gets into
the interference territory.the interference territory.
When R#1 goes When R#1 goes
interference territoryinterference territory
erritory position erritory position
output signal” is output signal” is
Application example of Application example of
“Interference range” setting“Interference range” setting
For instance, it can reduce the For instance, it can reduce the
possibilities of interference due to possibilities of interference due to
operation mistake by surrounding robot withoperation mistake by surrounding robot with
multiple rectangular interference range multiple rectangular interference range
All Input signals, which All Input signals, which
is assigned to eacis assigned to eac
h interference rangeh interference range
should be OFF.should be OFF.
Size of the interference range must be set slightly larger than the actual protection fence forSize of the interference range must be set slightly larger than the actual protection fence for
ensuring margin.ensuring margin.
, this is simple setting, so , this is simple setting, so
it is necessary to pay attention to it is necessary to pay attention to
points below.points below.
(1) It doesn’t’ mean changing “limit range”. For changing limit range of the robot, it is necessary to take a(1) It doesn’t’ mean changing “limit range”. For changing limit range of the robot, it is necessary to take a
measure of mechanical stopper and so on.measure of mechanical stopper and so on.
(2) Shapes of Arm and hand (2) Shapes of Arm and hand
are not considered. Monitoring is done are not considered. Monitoring is done
based on TCP coordinate. Therefore, thebased on TCP coordinate. Therefore, the
arm can interfere to the arm can interfere to the
interference range with the posture as interference range with the posture as
Interference rangeInterference range
Actual protection wallActual protection wall
To Next Page
Loading...