Hanwha HCR-5, User Manual

Page: 103 / 206

Chapter 8 Safety Settings
103

Box: Box-shaped boundary surface with TCP as the center having the Z axis of
the TCP as the height and the X axis as the width

Sphere: Spherical boundary surface with constant radius and with TCP as the
center

Cylinder: Cylindrical boundary surface with TCP as the center, having a height
in the Z-axis of TCP
 Cone:
Cone-shaped boundary surface with TCP as the center, having a height
and direction in the Z-axis of TCP
For
reference
The TCP currently applied to the robot is marked with the .
Each boundary surface of the tool has the same coordinate axes as TCP's
coordinate axes.
Setting Tool Safety Boundary Surfaces
1.
The boundary surfaces of the tool set to Use are set to a box by default. The user
selects one of the four boundaries for the shape of the tool or the desired shape.
2.
The selected boundaries are displayed on the screen, and the radius, height, width,
etc. are set according to the selected form. In addition, you can move and set them
based on the TCP coordinates, and enter the rotation angle along the coordinate
axis.
Applying Tool Safety Boundary Surfaces
1.
Switch the boundary surface you want to set to the TCP to Use or Not Use .
2.
Press the
Apply
button.
Press the
Cancel
button to cancel the current settings and return to the previous
setting.