Concurrent I/O•Parameter - Motoman

2.2 System Conform ParametersSUPPLE-MENT It is possible to output whether the control point during operation is inside or outside as astatus signal, and to set the area to control the position by parameters S2C002 toS2C074. When the manipulator attempts to enter this area, the corresponding input signal(e.g. an “entrance prohibit signal”) is detected. The manipulator stops immediately if thereis an input signal and goes into wait status until this signal is cleared. This signal is processingin the I/O section. Three methods of interference area settings are prepared forrobots and stations. For a system with one robot, use robot 1.1. S-Axis Interference AreaPosition is controlled by the pulse value of the S-Axis.2. Cube Interference AreaUp to 24 cubic area can be set. The edges of the cubes are set parallel to therobot coordinates of user coordinates.CUBE SETTINGMETHODS2C003-S2C026S2C027-S2C074S3C024-S3C407USE CUBEINTRF. CHECK?YESDECIDE THEUSING METHODSET THE AREANOCOMPLETED3. Axis Interference AreaUp to 24 areas can be set. Each operation area maximum and minimum value areset for the robot, base axis, and station axis plus and minus side.2-9