YASKAWA Motoman UP6 Instructions Manual page 180

3.7 Interference Area
*2
Select the desired cube number using the page key
The method for number input is as follows: Move cursor to "INTERFERENCE SIG" and
press [ENTER] to display the number input line. Input desired signal number and press
[ENTER].
*3
"AXIS INTERFERENCE" and "CUBIC INTERFERENCE" are displayed alternately
every time [SELECT] is pressed. If "CUBIC INTERFERENCE" is selected, the display
is changed.
*4
The selection dialog is displayed. Select desired control group.
*5
The selection dialog is displayed. Select desired coordinate.
If the user coordinates are selected, the number input line is displayed. Input the user
coordinate number and press [ENTER].
D A T A E D I T D I S P L A Y
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 : 1
M E T H O D : C U B I C I N T E R F E R E N C E
C O N T R O L G R O U P :**
C H E C K M E A S U R E : C O M M A N D P O S I T I O N
R E F C O O R D I N A T E : BASE
T E A C H I N G M E T H O D : MAX/MIN
< MAX >
!
D A T A
EDIT DISPLAY
I N T E R F E R E N C E A R E A
INTERFERENCE SIG : 1
METHOD : C U B I C I N T E R F E R E N C E
R 1 : R O B O T 1
R 1 : R O B O T 1
CONTROL GROUP :**
R 2 : R O B O T 2
CHECK MEASURE :COMMAND POSITION
REF COORDINATE :BASE
TEACHING METHOD :MAX/MIN
< MAX >
!
D A T A EDIT DISPLAY
I N T E R F E R E N C E A R E A
INTERFERENCE SIG: 1
METHOD : C U B I C I N T E R F E R E N C E
B A S E
B A S E
CONTROL GROUP :**
R O B O T
CHECK MEASURE :COMMAND POSITION
U S E R
REF COORDINATE :BASE
TEACHING METHOD :MAX/MIN
< MAX >
X 0.000
Y 0.000
!
3-22
or by number input.
UTILITY
L
R1 C
S
< MIN >
UTILITY
L
R1 C S
< MIN >
UTILITY
L
C S
R1
< MIN >
0.000
0.000