IAI America XSEL-KX - Manual (Page 272)

256
Part 4 Commands
A B
C
D
E
F
G H
Setting example of simple interference check zone
Define simple interference check zone Nos. 1, 2 and 3 as follows:
1. Set the area inside a rectangular solid as
simple interference check zone No. 1.
(A): Xb = 475, Yb =
–50, Zb = 150, Rb = 0
(G): Xb = 400, Yb = 50, Zb = 200, Rb = 180
If Rb is outside the range of 0 to 180
°, entry
into this rectangular solid area will not be
detected.
2. Set an area with Yb of 425 mm or more as
simple interference check zone No. 2.
3. Set an area with Xb of –400 mm or less and
Zb of 130 mm or more as simple interference
check zone No. 3.
The figure below shows the edit screen for definition data of simple interference check zone on the
PC software for horizontal articulated robot, where simple interference check zone Nos. 1, 2, and 3
are set:
Simple
interference
check zone
No. 1
Simple
interference
check zone
No. 2
Simple interference
check zone No. 3
+Xb
Xb = 475
Xb = 400
–Yb +Yb
Yb = 425
Xb = –400
Zb = 0
Zb = 130