Arm Interfere Check Function; Outline Of Arm Interfere Check Function - YASKAWA DX100 Instructions Manual

DX100
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Arm Interfere Check Function

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1 Arm Interfere Check Function
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Outline of Arm Interfere Check Function

Outline of Arm Interfere Check Function
This function checks the interference among robot arms and tools in the
system consisting of one controller and multiple robots.
Interference between each of the following is checked:
(1) An arm and an arm
(2) An arm and a tool
(3) A tool and a tool
The checking method is to approximate each axis arm and tool in cylinder
and then the interference is checked between the approximated cylinders.
Spheres are set at both ends of the cylinder, and the interferences are
checked between spheres and between sphere and cylinder.
If this cylinder or sphere is intersected, the robot stops.
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