YASKAWA Motoman UP6 Instructions Manual page 186

3.7 Interference Area
Setting Axis Data by Moving Manipulator Using the Axis Key
Operation
Select {ROBOT} under the top menu
desired interference signal number
*1
GROUP" Press [MODIFY]
*4
Press [ENTER]
Explanation
*1
Operate in the same way as shown in Explanation *1~*4 in "Number Input of Axis
Data".
*2
Move cursor to "<MAX>" for changing maximum value and move cursor to "<MIN>" for
changing minimum value. The cursor moves to only either "<MIN>" or "<MAX>" at this
time. The cursor moves freely when this operation is canceled by pressing [CANCEL].
*3
Move the manipulator to the desired position using the axis keys.
*4
The axis interference area is registered.
Select {INTERFERENCE}
Select "METHOD"
*2
Move the manipulator using the axis keys
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 : A X I S I N T E R F E R E N C E
C O N T R O L G R O U P : R1
C H E C K M E A S U R E : C O M M A N D POSITION
< MAX >
S 0
L 0
U 0
R 0
!
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 :A X I S I N T E R F E R E N C E
C O N T R O L G R O U P :R1
C H E C K M E A S U R E : C O M M A N D POSITION
< MAX >
S 510
L 1004
U 213
R 10
!
3-28
Select "CONTROL
UTILITY
L
R1 C S
< MIN >
0
0
0
0
UTILITY
L
R1 C S
< MIN >
0
0
0
0
Select the
*3