SPACE CHECK


SPACE CHECK

Table 1.  Space Check Function Screen Items

ITEM DESCRIPTION

Rectangular Space DETAILED Screen Items

Enable/Disable

This item enables and disables the space check function for that particular Common Space. To set or modify other conditions for an area, you must set the condition to Disable for that area.

Comment

This item allows you to specify up to ten characters as a comment.

Output Signal

This item allows you to specify the number of the interlock output signal.

Input Signal

This item allows you to specify the number of the interlock input signal.

Warning

If the robot is running a program and is being held at a Common Space boundary, do NOT disable the Space unless after the robot EMERGENCY STOP button has been pressed or the robot is HELD by the HOLD signal. This will pause the program. Otherwise, robot motion is possible immediately after the Space is disabled.

Priority High/Low

This item allows you to specify which of two robots has priority when both robots, which both use the space check function, attempt to enter the same area simultaneously. The robot for which Priority High has been specified can enter the area first. After the robot leaves the area, the other robot, for which Priority Low has been specified, is allowed to enter the area. A different setting must be made for each robot.

Warning

If the same setting (Priority High or Priority Low) is specified for both robots and they both attempt to enter the interference area simultaneously, both enter a dead lock state. In this case, check that the correct priority has been specified for both robots and perform the following recovery:

  1. Apply EMERGENCY STOP to both robots. Note that if EMERGENCY STOP is not applied to both robots, as soon as one robot leaves the interference area, the other robot will start operating automatically. This is extremely dangerous. Never attempt this operation without applying EMERGENCY STOP to both robots.

  2. Check that the immediate vicinity of the robot is clear of personnel and equipment.

  3. Disable the space check function.

  4. Move one robot out of the interference area by jogging it.

Otherwise, you could injure personnel or damage equipment.

Inside/outside

This item allows you to specify whether the inside or outside of the rectangular box you define in space is used as the interference area.

Common Space Num

This item is currently not used.

SPACE SETUP Screen Items

BASIS VERTEX

This item allows you to specify one of the corners of the rectangular space you define as a reference.

SIDE LENGTH/SECOND VERTEX

For SIDE LENGTH, use this item to specify the length of each side of the rectangular space, relative to the reference vertex along the x-, y-, and z-axes of the user coordinate system. Each side of the box must be parallel to an axis of the user coordinate system. For SECOND VERTEX, use this item to specify a vertex other than the reference vertex.