YASKAWA NX100 Operator's Manual page 320

8 Parameter
8.4 Parameters according to Interference Area
Interference Prevention in Interference Area
SUPPLE
-MENT
Processing to prevent interference is executed in the I/O processing section. The relation
between the NX100 I/O signal and manipulator operation is shown below.
In wait status with the entrance prohibit signal, the manipulator just barely enters the area
for speed reduction processing and then stops.
Start
Yes
Is the TCP within
the cube?
No
ENTRANCE PROHIBIT"
"OPERATING IN CUBE"
Has it left the check
8-31
Is the "CUBE
Yes
signal ON?
No
Outputs "WAIT" signal.
"WAIT" reset
signal output
cube?
No
Yes
149235-1CD
Manipulator stops.
RE-CSO-A031
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