YASKAWA YASNAC XRC - Cubic Interference Area; Setting Method

3.7 Interference Area
3-20
3.7.2
Cubic Interference Area
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Cubic Interference Area
This area is a rectangular parallelepiped which is parallel to the base coordinate system, robot
coordinate system, or user coordinate system. The XRC judges whether the current position
of the manipulator’s tool center point is inside or outside this area, and outputs this information
as a signal. The cubic interference areas can be set, parallel to the base coordinate system or
user coordinate system.
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Setting Method
There are three ways to set cubic interference areas, as described in the following:
Number Input of Cube Coordinates
Enter the maximum and minimum values for the cube coodinates.
Teaching Corner
Move the manipulator at the maximum and minimum value positions of the cube corner using
the axis keys.
Cubic
interference
area
Robot coordinates
Z-axis
X-axis
User Coordinates
Z-axis
Cubic
interference
area
Cubic
interference
area
X-axis
Y-axis
Y-axis
Minimum
value
X-axis
Y-axis
Z-axis
Maximum
value
Cubic
interference
area