6 Robot Settings
6.4 Zones
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HW1485509
HW1485509
6.4 Zones
The zone setting allows user to define spatial boundaries that can be used
to restrict manipulator motion or to generate notifications for application
control. The YRC Controller supports the creation of a maximum of 64
zones. There are two different types of zones:
– Cubic zones
– Axis zones
When the manipulator attempts to enter a zone, it can take two kinds of
action.
– Status: The status signal turns ON when the manipulator enters the
zone. To determine status by application, refer to chapter 6.4.3“
Zone Status”.
Example use: set a zone when the manipulator is outside the metal
working machine.
– Alarm: The alarm becomes active when the manipulator enters
inside the zone.
Example use: set a zone not to interfere with the working table
This signal is processed in the I/O section.
6.4.1 Cubic Zone
The cubic zone is a rectangular parallelepiped (a solid body of which each
face is a rectangle) parallel to the base coordinate, robot coordinate, or
user frame. The YRC Controller determines whether the manipulator’s
TCP is inside or outside this zone, and outputs this status as a signal.
zone
Robot coordinate
Z-axis
X-axis
User Frame
Z-axis
zone
X-axis
Y-axis
Y-axis
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