Creating Monitoring Models

Create a monitoring model with Arm modeling of WINCAPSIII, and then output the data to the controller.

Modeling Procedure

1

Create a model with "Simple Modeling" of WINCAPSIII.

2

Select a target object, and then select the checkbox of "Collision detection".

3

Click [Property] to open Mode Setting window. Select the Virtual fence check box.

Select the "On / Off control" check box, and select a target model ID (0 to 999) in the ID box. This will allow to enable / disable the monitoring from the VirtualFence command.

Selecting the check box of Display detection area will display the monitoring models.

4

Select the detection level.

5

Perform STEP2 to STEP4 for all models to be monitored.

6

Convert virtual fence data that has just created from STEP 1 to 5 to COBOTTA-processable format, and then save it.

The menu [Arm] - [Export virtual fence / exclusive control data]

You can check the exported virtual fence data by selecting the menu [Arm] - [Display virtual fence / exclusive control data].

7

Send the data to the COBOTTA.

For information on how to establish communication between WINCAPSIII and COBOTTA, please refer to "Communications Settings" and "Data Transfers" in WINCAPSIII Guide.

Reboot the COBOTTA after sending the data.

8

With Remote TP/Virtual TP, open the Arm window.
To display a monitoring model, from "the Arm Display Setting window", set desired objects (Arm, Tool, Work, and Area) to "Display", from the Virtual Fence Setting window, set "366: Virtual fence setting" to "1: Enable", and then reboot the COBOTTA.

Robot models are colored orange, always-monitored models are colored light orange, and models which monitoring state can be changed are colored green (when the monitoring is enabled).

Displaying / Hiding the Monitoring Models

Monitoring models are displayed/hidden by the following entry.

Operation path : [F2 Arm] - [F6 Aux] - [F7 DisplaySettings]

Select [Display] or [Not display], and then press [OK].