Interference Area - YASKAWA Motoman UP6 Instructions Manual

*3
Alarm is reset and manipulator can be moved using the axis keys.
• During overrun or shock sensor releasing, the manipulator can be moved using the axis
N OT E
keys with low speed or inching motion only.
• After overrun or shock sensor releasing, if "CANCEL" is selected or the display is changed
to the other one, overrun or shock sensor releasing is canceled.
3.7

Interference Area

3.7.1
Interference Area
The interference area is a function that prevents interference between multiple manipulators
or the manipulator and peripheral devices. The area can be set up to 24 area. There are two
types of interference areas, as follows:
• Cubic Interference Area
• Axis Interference Area
The XRC judges whether the tool center point of the manipulator is inside or outside this area,
and outputs this status as a signal.
If the tool center point of the manipulator is inside the area, the interference 1 inside signal or
interference 2 inside signal come on and the manipulator automatically decelerates to a stop.
The manipulator stands by until these signals are turned off, whereupon it automatically
restarts.
D A T A E D I T D I S P L A Y
O V E R R U N & S H O C K S E N S O R
S H O C K S E N S O R S T O P C O M M A N D
OCCUR GRP OVERRUN
R O B O T 1
C A N C E L
!
3-19
UTILITY
L
R1
C A
:E - S T O P
S-SENSOR
A L M R S T
3.7 Interference Area