INTERFERENCE CHECK SCREENS


INTERFERENCE CHECK SCREENS

1. INTERFERENCE CHECK SCREEN

Table 1.  Interference Check Element Data Screen Items

ITEM DESCRIPTION

Robot setup

This item allows you to display the Robot List and Priority Table screen.

Model setup

This item allows you to display the Model Setup screen.

Check combination setup

This item allows you to display the Check Combination Setup screen.

Multiple controller setup

This item allows you to display the Multiple Controller Setup screen.

2. INTERFERENCE CHECK MODEL SETUP SCREEN

Table 2.  Interference Check Model Setup Screen Items

ITEM DESCRIPTION

Robot model setup

This item allows you to set up models for the robot and dressout.

Tool model setup

This item allows you to set up model(s) for the end of arm tooling.

Obstacle model setup

This item allows you to set up model(s) for obstacles.

3. INTERFERENCE CHECK ROBOT MODEL SETUP SCREEN

Table 3.  Interference Check Robot Model Setup Screen Items

ITEM DESCRIPTION

Robot type

This item displays what robots are loaded on the system.

4. INTERFERENCE CHECK ROBOT MODEL ELEMENT SCREEN

Table 4. Setting Element Data

ELEMENT DEFINITION

ENABLED/DISABLED

Move the cursor to ENABLED or DISABLED and press F4, ENABLED, or F5, DISABLED, to modify.

Link Number and Link Type

It is unnecessary to define the parameters for an obstacle. Leave the parameters set to their default, the link number set to 0, and the link type set to NORMAL.

Shape

Move the cursor to Shape and press F4, [CHOICE]. The selection screens of Sphere and Cylinder are displayed and you can select the shape.

Size

Move the cursor to the data of the aimed element and edit the value directly.

Position

When the selected shape is Sphere, set the positional data of the center point of the Sphere to Pos 1. Do not select Pos 2 because it has invalid data. When the selected shape is Cylinder, set the Position data of 2 center points of the base of the cylinder to Pos 1 and Pos 2. The order of Pos 1 and Pos 2 is arbitrary. The positions mentioned are from one specified robot in WORLD frame. Determine the positional data by referring to the plan or teaching the robot.

5. INTERFERENCE CHECK ELEMENT DATA SCREEN

Table 5. Interference Check Element Data Screen Items

ITEM DESCRIPTION

ENABLE/DISABLE status

This item defines the status of the robot model element.

Link no

This item defines the link number on the Interference Check Element Data screen.

Link [TYPE]

This item defines the link type.

Shape

This item defines the shape of the model element and can only be changed from the list screen.

Size (mm)

This item defines the size (mm) of the model element.

Pos 1 on specified link frame

For a sphere element, Pos 1 (x,y, z) defines the center of the sphere element. If the model element's shape is cylinder, then Pos1 (x,y,z) defines end point 1 of the cylinder element.

Pos 2 on specified link frame

This item is not used for a sphere model element. For a cylinder model element, Pos 2 (x,y, z) defines end point 2 of the cylinder element.

6. INTERFERENCE CHECK TOOL MODEL SETUP SCREEN

Table 6. Interference Check Tool Model Setup Screen Items

ITEM DESCRIPTION

Tool model

This item allows you to set up a list of tool models.

7. INTERFERENCE CHECK TOOL MODEL LIST SCREEN

Table 7. Interference Check Tool Model List Screen Items

ITEM DESCRIPTION

Comment

This item allows you to name each tool model.

8. INTERFERENCE CHECK TOOL MODEL ELEMENT LIST SCREEN

Table 8. Interference Check Tool Model Element List Screen Items

ITEM DESCRIPTION

ENABLED/DISABLED status

This item allows you to enable or disable the tool model element.

Shape

This item defines the shape of the tool model element.

Size

This item defines the size (mm) of the tool model element.

9. INTERFERENCE CHECK ELEMENT DATA SCREEN

Table 9. Interference Check Element Data Screen Items

ITEM DESCRIPTION

Tool

This item indicates which tool model is being edited.

Element

This item indicates which element of the tool model is being edited.

ENABLE/DISABLE status

This item defines the status of the element data.

Shape

This item defines the shape of the model element and can only be changed from the list screen.

Size (mm)

This item defines the size (mm) of the model element.

Pos 1 on specified link frame

For a sphere element, Pos 1 (x,y, z) defines the center of the sphere element. If the model element's shape is cylinder, then Pos1 (x,y,z) defines end point 1 of the cylinder element.

Pos 2 on specified link frame

This item is not used for a sphere model element. For a cylinder model element, Pos 2 (x,y, z) defines end point 2 of the cylinder element.

10. INTERFERENCE CHECK OBSTACLE MODEL SETUP SCREEN

Table 10. Interference Check Obstacle Model Setup Screen Items

ITEM DESCRIPTION

Obstacle model setup

This item allows you to set up a list of obstacle models.

11. INTERFERENCE CHECK OBSTACLE MODEL LIST SCREEN

Table 11. Interference Check Obstacle Model List Screen Items

ITEM DESCRIPTION

Comment

This item allows you to name each obstacle model.

Taught GP

This item defines the group to which the obstacle model corresponds.

12. INTERFERENCE CHECK OBSTACLE MODEL DATA SCREEN

Table 12. Interference Check Obstacle Model Data Screen Items

ITEM DESCRIPTION

Obstacle no

This item defines the obstacle number.

Taught GP no

This item defines the group number for the obstacle.

ENABLED/DISABLED status

This item allows you to enable or disable the obstacle model element.

Shape

This item defines the shape of the obstacle model element.

Size

This item defines the size (mm) of the obstacle model element.

13. INTERFERENCE CHECK OBSTACLE ELEMENT DATA SCREEN

Table 13. Interference Check Obstacle Element Data Screen Items

ITEM DESCRIPTION

Obstacle no

This item defines the obstacle number.

Taught GP no

This item defines the group number for the obstacle.

ENABLED/DISABLED status

This item allows you to enable or disable the obstacle model element.

Shape

This item defines the shape of the obstacle model element.

Size

This item defines the size (mm) of the obstacle model element.

Pos 1 in World frame

For sphere elements, Pos 1 (x,y,z) defines the center of the sphere element. For a cylinder element, Pos 1 (x,y,z) defines end point 1 of the cylinder element. For a plane element, Pos 1 (x,y,z) defines the origin of the plane element.

Pos 2 in World frame

This item is not used for sphere model elements. For a cylinder model element, Pos 2 (x,y,z) defines end point 2 of the cylinder element. For a plane model element, Pos 2 (x,y,z) defines a point on plane element.

Pos 3 in World frame

This item is not used for sphere or cylinder model elements. For a plane model element, Pos 3 (x,y,z) defines a point on the plane element.

14. INTERFERENCE CHECK ROBOT NO AND PRIORITY TABLE SCREEN

Table 14. Interference Check Robot No. and Priority Table Screen Items

ITEM DESCRIPTION

Current robot no.

This item allows you to enter the current robot number.

Robot No. - Priority

This item allows you to define the priority level of robot numbers 1-5.

15. INTERFERENCE CHECK COMBINATION SETUP SCREEN

Table 15. Interference Check Combination Setup Screen Items

ITEM DESCRIPTION

Check combination setup

This item allows you to specify the combination pairs to be checked.

16. INTERFERENCE COMBINATION TO CHECK SCREEN

Table 16. Interference Combination to Check Screen Items

ITEM DESCRIPTION

Parameters: Rbt +Tool and Obstacle

This item allows you to define Rbt +Tool or Obstacle parameters.

ENABLED/DISABLED status

This item allows you to define enabled or disabled status for the check combination screen.

17. INTERFERENCE COMBINATION TO CHECK DETAIL SCREEN

Table 17. Interference Combination to Check DETAIL Screen Items

ITEM DESCRIPTION

Combination no.

This item is the specific combination that you selected from the Combination to Check screen.

Input

This item is the input I/O point data used for interference zone checking and is used only if stop on boundary is set to 0.

Output

This item is the output I/O point data used for the interference zone checking and is used only if stop on boundary is set to 0.

Stop (on boundary)

This item defines if combination pair is used for obstacle checking (1) or interference checking (0).

Other Robot No.

This item defines the robot number of the other robot used for interference zone checking. Enter 0 for multiple robots on the same controller.

18. INTERFERENCE CHECK MULTIPLE CONTROLLER SETUP SCREEN

Table 18. Interference Check Multiple Controller Setup Screen Items

ITEM DESCRIPTION

Multiple Controller Setup

This item allows you to view Remote Robot Setup or Interference Pair Setup.

Table 19. Interference Check Multiple Controller Setup Screen Items

ITEM DESCRIPTION

Remote Robot Setup

This item allows you to display the Remote Robot Setup screen.

Interference Pair Setup

This item allows you to display the Interference Pair Setup screen.

19. INTERFERENCE CHECK REMOTE ROBOT SETUP SCREEN

Table 20. Interference Check Remote Robot Setup Screen Items

ITEM DESCRIPTION

Host robot number

This item defines the robot number of the host robot.

Robot number

This item defines the robot number of each robot in the multiple robot system.

Type

This item defines the robot type of each robot in the multiple robot system.

Calib done

This item defines the status of calibration for each robot of the multiple robot system.

20. INTERFERENCE CHECK ZONE SETUP SCREEN

Table 21. Interference Check Zone Setup Screen Items

ITEM DESCRIPTION

Interf. Pair no.

This item defines the interference pair number between 1 and 5.

Host Rbt

This item defines the robot number for the host robot.

Remote Rbt

This item defines the robot number for the remote robot.

21. INTERFERENCE CHECK MULTI-ROBOT ZONE SETUP SCREEN

Table 22. Interference Check Multi-Robot Zone Setup Screen Items

ITEM DESCRIPTION

Interf. Pair no.

This item defines the interference pair number between 1 and 5.

Host Rbt

This item defines the robot number for the host robot.

Remote Rbt

This item defines the robot number for the remote robot.

Zone Input Signal

This item is the input I/O point data used for interference zone checking and is used only if stop on boundary is set to 0.

Zone Output Signal

This item is the output I/O point data used for the interference zone checking and is used only if stop on boundary is set to 0.

INTERFERENCE AVOIDANCE SCREENS

1. INTERFERENCE AVOIDANCE SCREENS

Table 23. Interference Check Setup Items

ITEM

DESCRIPTION

Model Setup

This item allows you to display the Model Setup screen.

Check Combination Setup

This item allows you to display the Check Combination Setup screen.

Multiple Controller Setup

This item allows you to display the Multiple Controller Setup screen.

AutoZone Setup

This item allows you to display the AutoZone Setup screen.


Table 24. Interference Check Model Setup Items

ITEM

DESCRIPTION

Robot Model Setup

This item allows you to set up models for the robot and dressout.

Tool Model Setup

This item allows you to set up model(s) for the end of arm tooling.

Obstacle Model Setup

This item allows you to set up model(s) for obstacles.


Table 25. AutoZone Space Setup Items

ITEM

DESCRIPTION

AutoZone Space Setup

This item allows you to display the AutoZone Space Setup Screen.

AutoZone Schedule

This item allows you to display the AutoZone Schedule Setup Screen.

AutoZone Manager Setup

This item allows you to display the AutoZone Manager Setup Screen.

AutoZone Test-Run Setup This item allows you to display the AutoZone Test-Run Setup Screen.

Table 26. AutoZone Space DETAIL Setup Items

ITEM

DESCRIPTION

Space Id

This item indicates the number of the Space Id.

Enabled/Disabled This item indicates the space is enabled or disabled.

Taught Member

This item indicates the member that taught the space.

Host Name

This item indicates the host name of the taught member.

Group

This item indicates the motion group number of the taught member.

Uframe

This item indicates the user frame number of the taught group with which the space is aligned.

Zone Reference in Uframe

This item indicates the origin corner of the taught space with respect to the specified Uframe.

Space Side Length

This item indicates the side length of the taught space. Either positive or negative number can be used to indicate the space edge is along the positive or negative direction of the specified Uframe. You can adjust the space side length to change the number of voxels along each axis, adjust along the X axis first, Y axis second, then Z axis.

Voxel Side Length

This item indicates the side length of the voxel. The default side length is 50mm for the X and Y sides and 200mm for the Z side. You can adjust the voxel side length to change the number of voxels along each axis, adjust along the X axis first, Y axis second, then Z axis.

Voxel Side Margin

This item indicates the margin which system can tolerate without re-mastering after a point has been re-touched up.

Number of Elements

The default number of voxels along the X axis is 32, along the Y axis is 44, and along the Z axis is 5. The minimum number of voxels along each axis is 1.


Table 27. AutoZone Schedule Setup Items

ITEM

DESCRIPTION

AutoZone Sch

The program AutoZone schedule number is specified in the program header. A different AutoZone schedule number can be specified in each AutoZone Start instruction.

AutoZone Recording

Recording Interval

The recording interval governs how often the robot position data is voxelized during the motion when the Master Flag is ON. If the controller has heavy CPU loading because of many options or for other reasons, you can increase this interval to speed up the voxelization process.

Priority

Not Available.

This item is the priority to resolve deadlock.

Progressive Flag

Default: FALSE

The Progressive flag is used in a Process Zone or AutoZone Region section of a program. This is between the AutoZone Start and AutoZone End instruction. A Process Zone allows a robot to be guaranteed to complete a process without being halted by another robot. For most process applications, the robot should remain running along the path without interruption until the process (welding, cutting, routing, grinding, etc) is completed.

FALSE indicates that one voxelized space will be used to represent the whole region. No other robot will be able to enter any portion of the region until the robot currently inside the region exits the region. Using the Progressive flag = FALSE also saves memory since only one voxelized space is used to represent all the motion lines between the AutoZone Start and AutoZone End instruction.

If the Progressive flag is TRUE then as each motion statement executes between the AutoZone Start and AutoZone End instruction, only the space occupied by the remainder of the Process Zone will be reserved. This allows another robot to enter a region of the Process Zone after the first robot has passed the area and if it will not return to that area inside the Process Zone.