Table 1. Intelligent Interference Check Element Data Screen Items
ITEM | DESCRIPTION |
---|---|
Calibration between robot | This item allows you to display calibration between robots. |
Models 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. |
Check data setup | This item allows you to display other parameters. |
Waiting condition setup | This item allows you to display Approach Wait Combination Setup screen. |
Deadlock Prevention setup | This item allows you to display Deadlock Prevention Setup screen. |
Basic Interference Check includes the top three menu items only, “Calibration between robot”, “Models setup”, and “Check combination setup.”
Table 2. Interference Check Calibration Setup Screen Items
ITEM | DESCRIPTION |
---|---|
Manager Host Name | This item allows you to define the manager host name. The first name on the F4 CHOICE list should be chosen as the manager. Also use this host name for the first Member robot. |
Member Host Name | This item allows you to define the member host name. |
Grp | This item allows you to define the robot group number. |
Table 3. Interference Check Model Setup Screen Items
ITEM | DESCRIPTION |
---|---|
Hand models setup | This item allows you to set up model(s) for the end of arm tooling. |
Fixture models setup | This item allows you to set up model(s) for fixtures. |
Robot models setup | This item allows you to set up models for the robot and dressout. |
Table 4. Interference Check Hand Model List Screen Items
ITEM | DESCRIPTION |
---|---|
Comment | This item allows you to name each tool model. |
Table 5. Interference Check Hand 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. |
Table 6. Interference Check Hand Model Element Data Screen Items
ITEM | DESCRIPTION |
---|---|
Hand | This item indicates which hand model is being edited. |
Element | This item indicates which element of the hand 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. |
Size (mm) | This item defines the size (mm) of the model element. |
Pos 1 on Flange 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 Flange 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. |
Table 7. Interference Check Fixture Model List Screen Items
ITEM | DESCRIPTION |
---|---|
Comment | This item allows you to name each fixture model. |
Taught GP | This item defines the group to which the fixture model corresponds. |
Table 8. Interference Check Fixture Model Data Screen Items
ITEM | DESCRIPTION |
---|---|
Fixture | This item defines the fixture number. |
TaughtGP | This item defines the group number for the fixture. |
ENABLED/DISABLED status | This item allows you to enable or disable the fixture model element. |
Shape | This item defines the shape of the fixture model element. |
Size | This item defines the size (mm) of the fixture model element. |
Table 9. Interference Check Fixture Element Data Screen Items
ITEM | DESCRIPTION |
---|---|
Fixture | This item defines the fixture number. |
Element | This item indicates which element of the fixture model is being edited. |
Taught GP | This item defines the group number for the fixture. |
ENABLED/DISABLED status | This item allows you to enable or disable the fixture model element. |
Shape | This item defines the shape of the fixture model element. |
Size | This item defines the size (mm) of the fixture model element. |
Pos 1 on 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 on 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 on 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. |
Pos 4 on World frame | This item is not used for sphere, cylinder or plane model elements. For a box model element, Pos 4 (x,y,z) defines the height of the box element. |
Table 10. Interference Check Robot Model Setup Screen Items
ITEM | DESCRIPTION |
---|---|
Robot type | This item displays what robots are loaded on the system. |
Table 11. Interference Check Robot Model Data Screen Items
ITEM | DESCRIPTION |
---|---|
ENABLED/DISABLED | Move the cursor to ENABLED or DISABLED and press F4, ENABLED, or F5, DISABLED, to modify. |
Shape | For factory define elements, you can not change its shape. For the added on elements, move the cursor to Shape and press F4, [CHOICE]. The selection screen of Sphere and Cylinder are displayed and you can select the shape. |
Size | For factory define elements, you can not change its size. For the added on elements, move the cursor to the data of the aimed element and edit the value directly. |
Table 12. Interference Check Robot Model 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. |
Size (mm) | This item defines the size (mm) of the model element. |
Table 13. Interference Check Combination Setup Screen Items
ITEM | DESCRIPTION |
---|---|
Check combination setup | This item allows you to specify the combination pairs to be checked. |
Table 14. Interference Combination to Check Screen Items
ITEM | DESCRIPTION |
---|---|
Item1 no. | This item allows you to define item1 robot group number. |
Parameters: Rob+Hnd and Fixture | This item allows you to define “Robot+Hand”, “Fixture”, “Critical Zone, “Virtual Fence”, “DO Only”, or “PLC DIN” parameters. |
Item2 no. | This item allows you to define item2 robot group number or fixture model number. |
Host name | This item allows you to define item2 host name. |
ENABLED/DISABLED status | This item allows you to define enabled or disabled status for the check combination screen. |
Table 15. Interference Combination to Check Critical Zone 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 the critical zone checking. |
Output | This item is the output I/O point data used for the critical zone checking. |
This robot priority | This item defines the priority of this robot in the critical zone checking. |
Table 16. Interference Check Data Setup Screen Items
ITEM | DESCRIPTION |
---|---|
Check Data Setup | This item allows you to view other parameters used by approach deterrence function. The parameters can be examined for each group. Do not change the default parameters except for special cases. |
Table 17. Interference Check Waiting Condition Setup Screen Items
ITEM | DESCRIPTION |
---|---|
Item1 no. | This item allows you to define the robot group number of item1. |
Parameters: RH and F | This item allows you to define RH (Robot+Hand) or F (Fixture) of item2. |
Item2 no. | This item allows you to define the robot group number or the fixture model number of item2. |
Host name | This item allows you to define the host name of item2. |
Table 18. Interference Check Deadlock Prevention List Screen Items
ITEM | DESCRIPTION |
---|---|
Description | This item allows you to name the deadlock prevention schedule. |
Analysis | This item displays the analysis process of the deadlock prevention schedule. |
State | This item displays the current state of the deadlock prevention schedule. |
Table 19. Interference Deadlock Prevention Detail Setup Screen Items
ITEM | DESCRIPTION |
---|---|
Schedule description | This item allows you to name the deadlock prevention schedule. |
Analysis | This item allows you to initiate the analysis process of the deadlock prevention. |
State | This item displays the current state of the deadlock prevention schedule. |
Host Name | This item allows you to define the host name of the TP program. |
Program Name | This item allows you to define the TP program name. |