YASKAWA NX100 Instructions Manual page 119

To stop the manipulator movement using the interference signal (use the cube interference
NOTE
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 using the interference signal to inform an external unit of the actual manipulator
position, use the "FEEDBACK POSITION" setting to enable the signal output in more
accurate timing.
Number Input of the Cube Coordinates
Operation
1 Select "METHOD".
2 Input number for "MAX" and
"MIN" data and press
[ENTER].
Each time [SELECT] is pressed, "MAX/MIN" and "CENTER POS"
switch alternately.
Select "MAX/MIN".
DATA EDIT
INTERFERENCE AREA
INTERFERENCE SIGNAL : 1 / 32
METHOD
CONTROL GROUP
CHECK MEASURE
REF COORDINATE
TEACHING METHOD
<MAX>
X 0.000
Y 0.000
Z 0.000
Main Menu Short Cut
The cubic interference area is set.
DATA EDIT
INTERFERENCE AREA
INTERFERENCE SIGNAL : 1 / 32
METHOD
CONTROL GROUP
CHECK MEASURE
REF COORDINATE
TEACHING METHOD
<MAX>
X 100.000
Y 50.000
Z 0.000
Main Menu Short Cut
8-53
8.6 Interference Area
Explanation
DISPLAY UTILITY
CUBIC INTERFERENCE
R1
COMMAND POSITION
BASE
MAX / MIN
<MIN>
0.000
0.000
0.000
PAGE
DISPLAY UTILITY
CUBIC INTERFERENCE
R1
COMMAND POSITION
BASE
MAX / MIN
<MIN>
0.000
0.000
0.000
PAGE