6 Robot Settings
6.4 Zones
6-33
HW1485509
HW1485509
Precaution When Setting a Zone
The following must be considered in advance when setting a
zone for cubic/axis.
The manipulator will not immediately stop when it reaches
the boundary of a zone. It will decelerate to a stop from the
position where it enters the zone. This means that the
manipulator actual position after stopping will be inside the
zone. As such, manipulator stopping distance should be
considered while defining the size of the zone as shown in
the figure below.
TCP motion path
Zone detection position
Actual stopping position
Zone
TCP motion deceleration
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