Setting Of Area Limit - YASKAWA DX200 Instructions Manual

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3.5
3 Setup of Hand Guiding Function
3.5

Setting of Area Limit

Setting of Area Limit
The area to the translation can be limited so that the robot is prevented
from contacting the external device when operating a robot by using the
hand guiding function.
When the following area intrusion signal is turned ON, the robot cannot be
operated further in the direction of intrusion.
Signal type Relay
Auxiliary relay #70200
#70201
#70202
#70203
#70204
#70205
The area intrusion signal can be set together with the cubic interference
area.
Setting the cubic interference area
1
Follow the procedures below to set the cubic interference area.
1. Press {ROBOT} under the main menu, and then {INTERFERENCE}
under the sub menu.
2. Since the interference signal window is displayed, select the
interference signal to use with {PAGE}.
3. Set the cubic interference area.
(Setting example in the X- direction)
Item
Method
Control group
Check method
Reference coordinate
Alarm output
Teaching method
Comment
<Maximum value>
X -500
Y 10000
Z 10000
For the detail setting method of the cubic interference area, refer to DX200
INSTRUCTIONS or YRC1000 INSTRUCTIONS.
Ladder setting
2
Connect the set cubic interference area specific output signal (#50080 -
#50157) and the auxiliary relay (#70201 - #70206) for the area limit with
the concurrent ladder setting.
3-5
Contents
+X direction exceeded
-X direction exceeded
+Y direction exceeded
-Y direction exceeded
+Z direction exceeded
-Z direction exceeded
Setting value
Cubic interference
R1
Command position
Base
OFF
Maximum value/Minimum value
<Minimum value>
-10000
-10000
-10000
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