YASKAWA DX100 Operator's Manual page 469

155507-1CD
DX100
8 Parameter
8.4 Parameters According to Interference Area
Interference Prevention in Interference Area
Processing to prevent interference is executed in the I/O
processing section. The relation between the DX100 I/O
signal and manipulator operation is shown below.
Start
Is the TCP within
the cube?
In wait status with the entrance prohibit signal, the
manipulator just barely enters the area for speed reduction
processing and then stops.
Fig. 8-9: Connection Example Where Two Manipulators are
Operated in the Same Area
SUPPLE-
MENT
DX100
Operating inside
CUBE1
Operating inside
CUBE2
Interference waiting
Inside CUBE1
entrance prohibit
Inside CUBE2
entrance prohibit
Manipulator A
Operating inside
CUBE1
Operating inside
CUBE2
Inside CUBE1
entrance prohibit
Inside CUBE2
entrance prohibit
Interference waiting
8-38
Yes
No
Is the "CUBE
Yes
ENTRANCE PROHIBIT"
signal ON?
No
"WAIT" reset
"OPERATING IN CUBE"
signal output
Has it left the check
cube?
Yes
Output in cube during
operation.
Output during waiting by
entrance prohibit signal.
These signals are checked
when entering the cube.
entrance prohibit
entrance prohibit
Operating inside
Operating inside
Interference waiting
Alarm signal
Outputs "WAIT" signal.
Manipulator stops.
No
Manipulator B
Inside CUBE1
Inside CUBE2
CUBE1
CUBE2
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