Preparation For Safety Range Function; Setting Tool Interference File - YASKAWA DX100 Instructions Manual

HW0486052
DX100
3.2
3.3
3 Setup (Safety Range Function for Robot)
3.2

Preparation for Safety Range Function

Preparation for Safety Range Function
For the safety range function for the robot arm, set the safety range of the
robot arm as polygonal columns in advance. Then, the robot arm is
monitored so that it does not exceed the safety range.
If any monitoring error is detected, the servo power will be turned OFF.
The outline of the operating procedure is as follows:

(1) Setting tool interference file

(2) Setting safety range for robot
(3) Confirming safety range for robot
(4) Starting safety range function for robot
Each operating procedure is explained below.
Setting Tool Interference File
The safety unit also monitors that the robot tool does not exceed the
safety range. In this case, set the tool shape in the tool interference file.
To set the tool interference file, the security mode must be EDITING
MODE or higher.
<Tool interference file>
• Cylinders and spheres for up to 5 positions can be set.
• Both ends of a cylinder are set by POINT1 and POINT2.
The distance from the center of T axis flange should be set like tool
dimension setting.
• The radius of the spheres and cylinder between POINT1 and
POINT2 is set. The spheres are set to POINT1 and POINT2.
• The specified radius must have a margin of at least 10 mm com-
pared with the actual tool.
A single tool interference file can be used for a robot.
NOTE
The safety range function is set to the data in the tool inter-
ference file #0 for R1 and that in the tool interference file #1
for R2.
3-3
HW0486052
18/56