Cubic Interference Area; Setting Method - YASKAWA Motoman UP6 Instructions Manual

3.7 Interference Area
3.7.2

Cubic Interference Area

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Cubic Interference Area
This area is a rectangular parallelepiped which is parallel to the base coordinate system, robot
coordinate system, or user coordinate system. The XRC judges whether the current position
of the manipulator's tool center point is inside or outside this area, and outputs this information
as a signal. The cubic interference areas can be set, parallel to the base coordinate system or
user coordinate system.
User Coordinates
Z-axis
"

Setting Method

There are three ways to set cubic interference areas, as described in the following:
Number Input of Cube Coordinates
Enter the maximum and minimum values for the cube coodinates.
interference
Teaching Corner
Move the manipulator at the maximum and minimum value positions of the cube corner using
the axis keys.
Cubic
interference
area
Cubic
interference
area
X-axis
Y-axis
X-axis
Maximum
value
Cubic
area
Y-axis
Robot coordinates
Z-axis
Z-axis
X-axis
Minimum
3-20
Cubic
interference
area
Y-axis
value