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ID : 6954
Interpreting a Detected Area Interference as an Error
The moment the origin of the tool coordinates interferes with the active interference check area, the system can detect it as an error and cut the motor power off to prevent the arm from proceeding into the area further.
Alternatively, the area detection can be set to "when the arm exits from the area."
Settings and Descriptions
The table below shows the selection of the area setting displayed in a Remote TP/Virtual TP.
For details about the way of setting, refer to "Displaying and Setting Area Coordinates" of TP App Operation Guide.
| Setting | Label |
|---|---|
| 0 | 0: No error output while the robot is inside the area of interference. |
| 1 | 1: Error output while the robot is inside the area of interference. (Cannot power on motor while interfering) |
| 2 | 2: Error output while the robot is inside the area of interference. (Robot arm can be moved by operator’s hand while interfering) |
| 3 | 3: No error output while the robot is outside the area of interference. |
| 4 | 4: Error output while the robot is outside the area of interference. (Cannot power on motor while interfering) |
| 5 | 5: Error output while the robot is outside the area of interference. (Robot arm can be moved by operator’s hand while interfering) |
The table below describes the details of each settings.
| Setting | Detection | Error output (Motor OFF) | Motor ON after error release | Remarks |
|---|---|---|---|---|
| 0 | When the origin of the tool coordinate enters the area | Not output | - | |
| 1 | Output | Not allowed | ||
| 2 | Output | Allowed | Manually aviodable | |
| 3 | When the origin of the tool coordinate exits the area | Not output | - | |
| 4 | Output | Not allowed | ||
| 5 | Output | Allowed | Manually aviodable |
If extended-joints are used, the area detection targets all the areas of the robot axes and extended-joints. For details, refer to "Displaying and Changing the Area Detail Setting " of TP App Operation Guide.
- Once an area interference error occurs, the system cuts off the motor power so that the origin of the tool coordinates remains in the area. Once an area interference error occurs, the system issues an error and cuts off the motor power as soon as the origin of the tool coordinates enters the area. If an attempt is made to turn the motor power on under this state, an error will occur again and the motor power will be cut off. When error occurred, disable the error detection, move the origin of the tool coordinates out of the area by manual operation, and then enable the error detection again.
- If any of items 3 through 5 (detection when the robot arm exits from the defined area) is set for two check areas or more concurrently, then the system will interpret the overlapped area only as a motion space. If no overlapped area exists, the robot cannot run, so the settings need to be modified.
ID : 6954