Interference avoidance function
6-533
3)Simulated components for workpiece
The parameters required to register a simulated workpiece are shown in
.
Table 5-36:Simulated component setting parameters (workpiece)
Simulated compo-
nent size
(hand)
CAVSZH1 to 8
Real number 4
Set the size of each simulated component.
(Each simulated component corresponds to the last digit
(1 to 8) of the parameter name.)
1st element: Radius (mm)
2nd element: Length (mm)
3rd element: Fixed to 0
4th element: Fixed to 0
Note) If shape is the sphere, setting of the length is
unnecessary.
Set all parameters
(CAVSZH1 to 8) to
“0, 0, 0, 0”.
Simulated compo-
nent enable/dis-
able
(hand)
CAVSCH to 8
Integer 3
Set whether to check (enable or disable) interference for
each simulated component.
(Each simulated component corresponds to the last digit
(1 to 8) of the parameter name.)
1st element: Enable/disable setting
(0: Disable, 1: Enable)
2nd element: Set whether to let the interference
avoidance function to temporarily disable
interference checks during jog operation.
(Refer to
interference avoidance function
.)
(0: Disable, 1: Maintain enabled state)
Note) If interference is inevitable during
jog operation for teaching, setting
the simulated hand or workpiece to
“0: Disable” can be convenient.
3rd element: Fixed to 0
Set all parameters
(CAVSCH1 to 8) to
“0, 0, 0”.
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation
Factory setting
Workpiece num-
ber and shape
(workpiece)
CAVKDW1 to 8
Integer 2
Set the workpiece number and shape of simulated
workpiece to be registered. Up to eight simulated
workpiece types can be registered. (Each type
corresponds to the last digit (1 to 8) of the parameter
name.)
1st element: Workpiece number
Corresponds to the workpiece condition
number for changing the simulated
component with the
command.
0: Simulated component type set as default.
1 to 8: Workpiece condition number designated with
the
command
2nd element: Shape
0: a sphere
1: a cylinder
Set all parameters
(CAVKDW1 to 8)
to “0, 0”.
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation
Factory setting
Changing the simulated component to be checked at program execution (hand, workpiece)
When a program is executed, the simulated hand and workpiece targeted for the interference check
with the
command can be changed so that the interference is checked according to
the hand type actually being used or the workpiece type actually being grasped.
The
command designates a hand number or workpiece number, which is set with
parameter beforehand.
