YASKAWA Motoman UP6 Instructions Manual page 181

*6
Each time [SELECT] is pressed, "COMMAND POSITION" and "FEEDBACK POSI-
TION" alternate.
To stop the manipulator movement using the interference signal (use the cube interference
N OT E
signal for mutual interference between robots), set CHECK MEASURE to "COMMAND
POSITION".
When set to the "FEEDBACK POSITION", the manipulator decelerates to a stop after
entering the interference area.
When informing an external unit of the actual manipulator position, use the "FEEDBACK
POSITION" setting so the timing of the output signal is more accurate.
Number Input of Cube Coordinates
Operation
*1
Select "METHOD"
Explanation
*1
Each time [SELECT] is pressed, "MAX/MIN" and "CENTER POS" alternate.
Select "MAX/MIN".
*2
The cubic interference area is set.
D A T A
E D I T
I N T E R F E R E N C E A R E A
INTERFERENCE SIG : 1
METHOD
CONTROL GROUP
R E F C O O R D I N A T E
T E A C H I N G M E T H O D : M A X / M I N
CHECK MEASURE
< MAX >
!
Input number for "MAX" and "MIN" data and press [Enter]
D A T A
EDIT
I N T E R F E R E N C E A R E A
INTERFERENCE SIG : 1
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
R E F C O O R D I N A T E
T E A C H I N G M E T H O D :
< MAX >
X 0.000
Y 0.000
!
D A T A
EDIT
I N T E R F E R E N C E A R E A
INTERFERENCE SIG : 1
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
R E F C O O R D I N A T E
T E A C H I N G M E T H O D : MAX/MIN
< MAX >
X 100.000
Y 50.000
!
3-23
D I S P L A Y U T I L I T Y
L
R1 C S
:
:**
: B A S E
: C O M M A N D P O S I T I O N
< MIN >
DISPLAY UTILITY
L
C S
R1
: C U B I C I N T E R F E R E N C E
: R1
: C O M M A N D P O S I T I O N
: BASE
MAX/MIN
< MIN >
0.000
0.000
DISPLAY UTILITY
L
C
R1 S
: C U B I C I N T E R F E R E N C E
: R1
: C O M M A N D P O S I T I O N
: BASE
< MIN >
0.000
0.000
3.7 Interference Area
*2