11 Safety Function
11.4 Functional Safety Functions
11-65
HW1485509
HW1485509
Shape Type
To specifies the monitoring volume as a cubic, select Cubic in Shape
Type.
Monitor Type
When selecting the {Keep Robot Inside}, 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 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, Z)
Specify two points on an object coordinates system, and then a cuboid
is created whose diagonal line is specified by the points.
In case any two point values input in either X, Y or Z are overlapped, the
setting is regarded as an error.
{ }: Set the point as the current TCP position.
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