YASKAWA motoman NX100 - Page 220

9.7 Interference Area
9-20
9.7 Interference Area
9.7.1 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 32 area. There are two
types of interference areas, as follows:
• Cubic Interference Area
• Axis Interference Area
The NX100 judges whether the TCP of the manipulator is inside or outside this area, and out-
puts this status as a signal.
If the TCP of the manipulator is inside the area, the interference 1 inside signal or interference
2 inside signal are turned on and the manipulator automatically decelerates to a stop. The
manipulator stands by until these signals are turned off, whereupon it automatically restarts.
9.7.2 Cubic Interference Area
 Cubic Interference Area
This area is a rectangular parallelepiped which is parallel to the base coordinate, robot coordi-
nate, or user coordinate. The NX100 judges whether the current position of the manipulator’s
TCP is inside or outside this area, and outputs this status as a signal. The cubic interference
areas can be set, parallel to the base coordinate or user coordinate.
Cubic
interference
area
Robot coordinate
Z-axis
X-axis
User Coordinates
Z-axis
Cubic
interference
area
Cubic
interference
area
X-axis
Y-axis
Y-axis