Setting Operation - YASKAWA Motoman UP6 Instructions Manual

Number Input of the Side of Cube and Teaching Center
After entering the lengths of the three faces of the cube (axial length) using the number keys,
move the manipulator to the center point of the cube using the axis keys.
"

Setting Operation

Operation
Select {ROBOT} under the top menu
desired cube number
Select "REF COORDINATES"
Explanation
*1
The cubic interference area display is shown.
Maximum
value
Y-axis
Y
Z
Y-axis
*2
Select "METHOD"
*5
Select "CHECK MEASURE"
D A T A E D I T
I N T E R F E R E N C E A R E A
I N T E R F E R E N C E S I G :
M E T H O D
C O N T R O L G R O U P
C H E C K M E A S U R E
< MAX >
!
Z-axis
X-axis
Minimum
Z-axis
X
X-axis
Center
point
Select {INTERFERENCE}
*3
Select "CONTROL GROUP"
D I S P L A Y U T I L I T Y
L
R1 C S
1
:A X I S I N T E R F E R E N C E
:**
:C O M M A N D P O S I T I O N
< MIN >
3-21
3.7 Interference Area
value
*1
Select the
*4
*6