Setting Of Arm Interfere Check Function; Tool Interfere File - YASKAWA DX100 Instructions Manual

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DX100
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1.2.1 Tool Interfere File

1 Arm Interfere Check Function
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Setting of Arm Interfere Check Function

Setting of Arm Interfere Check Function
The arm interfere check function requires setting of cylinder and sphere
for the robot arm. These setting values need not be set by the customer
because they are factory-set.
The tool part must be set by the customer because the tool shape
depends on the work that the robot performs. These settings are set in the
tool interfere file.
The tool interfere file is shown by using the procedure to select {TOP
MENU} → {ROBOT} → {TOOL INTERFERE}.
• A maximum of 64 tool interfere files can be set.
In accordance with the tool number specified in operation, one file is
selected out of 64 files.
• A maximum of 5 cylinders and spheres can be set.
1 to 5 points can be set by moving the cursor below.
• Point 1 and Point 2 set both end positions that set the cylinder.
Like the setting of the tool dimensions, the setting values are set with
the center of T-axis flange regarded as the starting point (X=0, Y=0,
Z=0).
• Radius sets the radius of the cylinder and sphere between Point 1
and Point 2. The sphere is set for Point 1 and Point 2.
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