9.7 Interference Area
9-23
6 Select “REF COORDINATES.” The selection dialog box is shown. Select desired coordinate.
If the user coordinates are selected, the number input line is
shown. Input the user coordinate number and press [ENTER].
7 Select “CHECK MEASURE.” Each time [SELECT] is pressed, “COMMAND POSITION” and
“FEEDBACK POSITION” are shown alternately.
To stop the manipulator movement using the interference signal (use the cube interference
signal for mutual interference between robots), set CHECK MEASURE to “COMMAND
POSITION”.
When set to the “FEEDBACK POSITION”, the manipulator decelerates to a stop after
entering the interference area.
When informing an external unit of the actual manipulator position, use the “FEEDBACK
POSITION” setting so the timing of the output signal is more accurate.
Operation Explanation
Main Menu ShortCut
EDIT
DISPLAY
UTILITY
DATA
METHOD
CONTROL GROUP
CHECK MEASURE
COMMAND POSITION
CUBIC INTERFERENCE
INTERFERENCE AREA
INTERFERENCE SIG:
1 / 32
REF COORDINATE
TEACHING METHOD
<MAX>
R1
X
Y
Z
0.000
0.000
0.000
0.000
0.000
0.000
BASE
ROBOT
USER
DIRECT PAGE
Main Menu ShortCut
EDIT
DISPLAY
UTILITY
DATA
METHOD
CONTROL GROUP
CHECK MEASURE
COMMAND POSITION
CUBE INTERFERENCE
INTERFERENCE AREA
INTERFERENCE SIG:
1 / 32
REF COORDINATE
TEACHING METHOD
BASE
MAX/MIN
<MAX> <MIN>
R1
X
Y
Z
0.000
0.000
0.000
0.000
0.000
0.000
DIRECT PAGE
NOTE
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