11 Safety Function
11.4 Functional Safety Functions
11-64
HW1485509
HW1485509
Shape Type
To specifies the monitoring volume as a custom, select Custom in
Shape Type.
Monitor Type
When selecting the {Keep Robot Inside}, the polygon can be specified
by 3 to 16 points. The space inside the area is defined as the safety
range. When the result of the monitoring is safe, the object arm and the
tool of the manipulator are kept inside the safety range.
When selecting the {Keep Robot Outside}, the polygon can be specified
by 3 to 4 points. The space outside the area is defined as the safety
range. When the result of the monitoring is safe, the object arm and tool of
the manipulator are kept outside the range.
The area specified should be convex.
Point (X,Y)
Specifies the points on the X-Y plane to define the polygon.
The points are connected in ascending order like
Point 1 Point2 Point3 ..... Point1
And the line of these points becomes the wall of the range of motion.
Take this procedures into consideration before specifying the points.
{ }: Set the point as the current TCP position.
{ }: Add new point before selected point.
{ }: Delete selected point.
{NEW POINT}: Add new point after the list.
Z Top, Z Bottom
Specifies the height of the custom shape.
If it is not defined, the height in the Z-axis direction is set to infinite
(polygon prism of infinite height).
Robot Range Limit as Cubic Shape
If Cubic is selected in Shape Type, it specifies boundaries within which the
Robot moves or boundaries that prevent Robot from entering with cuboid
whose diagonal line is specified by the points.
Z
Y
X
POINT 1
POINT 2
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