YASKAWA Motoman UP6 - Page 181

3.7 Interference Area
3-23
*6
Each time [SELECT] is pressed, “COMMAND POSITION” and “FEEDBACK POSI-
TION” alternate.
Number Input of Cube Coordinates
*1
Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate.
Select “MAX/MIN”.
*2
The cubic interference area is set.
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.
Select “METHOD”
*1
Input number for “MAX” and “MIN” data and press [Enter]
*2
INTERFERENCE AREA
INTERFERENCE SIG : 1
METHOD :
CONTROL GROUP :**
REF COORDINATE :BASE
TEACHING METHOD :MAX/MIN
CHECK MEASURE :COMMAND POSITION
< MAX > < MIN >
!
DATA
EDIT DISPLAY UTILITY
R1
S
C
L
NOTE
Operation
Explanation
INTERFERENCE AREA
INTERFERENCE SIG : 1
METHOD : CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE : COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : MAX/MIN
< MAX > < MIN >
X 0.000 0.000
Y 0.000 0.000
!
DATA
EDIT DISPLAY UTILITY
R1
S
C
L
INTERFERENCE AREA
INTERFERENCE SIG : 1
METHOD : CUBIC INTERFERENCE
CONTROL GROUP : R1
CHECK MEASURE : COMMAND POSITION
REF COORDINATE : BASE
TEACHING METHOD : MAX/MIN
< MAX > < MIN >
X 100.000 0.000
Y 50.000 0.000
!
DATA
EDIT DISPLAY UTILITY
R1
S
C
L