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ID : 1632
Escaping from the Interference Check Area
When Entering the Interference Check Area
If the interference check setting is 1 or 2, an error will be issued once a robot enters the interference check area. (Error code: 0x83201281 to 0x832012A0, Message:TCP is interfering with Area*)
If the interference check setting is 2, the robot may escape from the interference check area with a teach pendant or mini pendant. In this case, you can use operations marked with "Available" in the table below only.
| Mode | Operation | ||||
|---|---|---|---|---|---|
| Motor ON | Manual key | Variable shift | Motor lock | Direct | |
| Manual | Available | Available | N/A | Available | N/A |
| Teach check | N/A | N/A | N/A | ||
| Auto | N/A | N/A | |||
Escaping Procedure
1
Error will occur when the robot enters the interference area.
2
Switch off AutoEnable to change the operation mode to Manual.
3
Move the robot outside the interference area.
- Since the robot can move to the direction where an interference point exists,
make sure to move the robot in the direction away from the interference point. - Error will be issued once a robot enters the interference check area again. (Error code: 0x83201281 to 0x832012A0, Message:TCP is interfering with Area*)
- If the areas of interference overlap, as shown in the figure below, error occurs first upon the robot end starting within the area 1 enters in the area 2. However, this can be avoided by aid of the method given above.
When Leaving the Interference Check Area
The measures of this case is the same as that of "When entering the interference check area" mentioned above.
If the interference check setting is 4 or 5, an error will be issued once a robot leaves the interference check area. (Error code: 0x83201281 to 0x832012A0, Message:TCP is interfering with Area*)
If the interference check setting is "5", the robot may escape from the interference area. The way of this operation is the same as setting "2" to "When entering the interference check area".
For about the way of escape from the interference check, refer to the description above. Note that the motion directions (inner/outer) are reversed.
ID : 1632