YASKAWA NX100 Operator's Manual page 318

8 Parameter
8.4 Parameters according to Interference Area
Interference Area
SUPPLE
-MENT
It is possible to output whether the TCP during operation is inside or outside as a status
signal, and to set the area to control the position by parameters S2C003 to S2C114. When
the manipulator attempts to enter this area, the corresponding input signal (e.g. an
"entrance prohibit signal") is detected. The manipulator stops immediately if there is an
input signal and goes into waiting status until this signal is cleared. This signal is
processed in the I/O section. Three methods of interference area settings are prepared for
manipulators and stations. For a system with one manipulator, use robot 1.
• S-axis Interference Area
Position is controlled by the pulse value of the S-axis.
• Cubic Interference Area
Up to 32 cubic areas can be set. The edges of the cubes are set parallel to the robot
coordinates or the user coordinates.
X
Thirty two cubic areas can be set,
each cube is set parallel to the set coordinates.
• Axis Interference Area
Up to 32 areas can be set. Each operation area maximum and minimum value are set for
the robot, base axis, and station axis plus and minus side.
(+ ) s i d e
I n l ef t a r e a
Z
Base coordinates
(robot coordinates,
user coordinates)
Y
Max value
positive side (+)
8-29
(-) s id e
In rig h t a r e a
Cube Setting Method
S2C003-S2C034
intrf. check?
S2C051-S2C114
Decide the using
S3C032-S3C543
Set the area.
Completed
0
Min value
negative side (-)
149235-1CD
No
Use cube
Yes
method.
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