ID : 2268

ExclusiveArea

Function

Create or change an exclusive area.

This command is available in Ver.1.12.* or later.

ExclusiveArea Area number, Position, Size

Area number: Specify an exclusive area number (0 to 31) by integer type data.
Position: Specify the center position (X, Y, Z) and attitude (Rx, Ry, Rz) of the exclusive area that is viewed from the world coordinate system. Unit for position is millimeter and for attitude is degree.
Size: Specify the radius (Dx, Dy, Dz) of an exclusive area by vector type data. Unit is millimeter.

Create or change the specified number’s exclusive area.

You cannot execute this command while a robot is running.
If @E is specified for the motion command, a robot might be slightly moving in encoder level, even if it seems stopped completely. Therefore, if you use @E for the motion command, error 0x8150100D "Command isn't executable while the robot is running." might occur. For details, refer to the "Confirming Reach Position" of FUNCTION GUIDE.
```
Move P,@E,P0
ExclusiveArea 1, P1, V1
```

Refer to “Programming” of exclusive control function in “FUNCTION GUIDE” for detail.

ID : 2268