POSTUREAREA (Statement) [Version 3.0 or later]


Declare configuration of the high-sensitive position & posture detection function.


POSTUREAREA <position>,<area (vector)>,<I/O number>,<PositionVarNumber for detected position
storage>[,<error processing>][,TAR_POSTURE(<posture>,<allowable error>)][,TAR_EXJOINT
(<axis number>,<position>,<allowable error>)]
To specify two or more extended-joints
POSTUREAREA <position>,<area (vector)>,<I/O number>,<PositionVarNumber for detected position
storage>[,<error processing>][,TAR_POSTURE(<posture>,<allowable error>)][,TAR_EXJOINT
(<axis number>,<position>,<allowable error>),(<axis number>,<position >,<allowable error>),
(<axis number>,<position>,<allowable error>)] [,(<axis number>,<position>,<allowable error>)...])]


This statement declares configuration of the high-sensitive position & posture detection function--position and posture of the end-of-arm tooling and position and angle of extended-joints.
If those settings are satisfied, it means that the end-of-arm tooling and extended-joint(s) reach their target positions at target angles. This detection can be used as a trigger of a camera shutter.
The detection interval is 1 ms.
<position> is a position variable that specifies the detection position. For details, refer to the interference area command AREA.
<area (vector)> is the range to be judged as a detection area. A vector from the center to the end point is used to specify the area size. For details, refer to the interference area command AREA.
<I/O number> is a number of I/O to be turned on at the time of detection. If an I/O is not to be used, set "-1."
<PositionVarNumber for detected position storage> is a position variable in which the current position value will be saved at the time of detection. If detected position storage is not required, set "-1."
<error processing> is any of 0 to 5, which specifies how to issue an error at the time of detection.
0 : Output no error when coming in the detection area
1 : Output an error when coming in the detection area
2 : Output no error when coming in the detection area (switchable to manual mode for operation)
3 : Output no error when going out of the detection area
4 : Output an error when going out of the detection area
5 : Output no error when going out of the detection area (switchable to manual mode for operation)
TAR_POSTURE(<posture>, <allowable error>) specifies a posture to be detected. (omissible)
<posture> specifies a posture to be detected. Specification with a position variable ignores positional elements.
Specification with a numerical value, enter (Rx, Ry, Rz). For 4-axis robots, enter (Rz) or (0,0,Rz).
<allowable error> specifies an allowable error from <posture> in degrees of an angle. Specification of "-1" does not check the posture.
TAR_EXJOINT(<axis_number>, <position>, <allowable error>) specifies an angle of extended-joint(s) to be detected. (omissible)
<axis number> is the axis number of an extended-joint to be detected.
<position> specifies the extended-joint position to be detected.
<allowable error> specifies an allowable error from <position>. Specification of "-1" does not check the extended-joint position.



  • The high-sensitive position & posture detection function is optional. To use it, purchase the license.
  • Only one area can be specified.
  • This function can be configured in programs, not with the teach pendant or in WINCAPS.
  • Powering off the controller does not preserve the settings configured by POSTUREAREA.
  • When the motor power is off, this detection function does not work, but when the robot is locked (machine lock), it works at 8 ms-intervals.


POSTUREAREA, P1,V0,24,-1,0, TAR_POSTURE ( V2 , 1 ), TAR_EXJOINT ( ( 7 , 30 , 4 ),
( 8 , 90 , 1) )


Top