10-5
10-4-2. “RT monitor” setting procedure
* You can specify two different RT monitor settings (RT01 and RT02).
Click
>>
Set
>>
Robot
>>
Area monitor
>>
RT monitor
Î
[Valid/Invalid]
Specifies the validity of the function.
[Face/Side]
Face: To monitor within the set range.
Side: To monitor outside of the set range in the robot work
envelope.
[Auto re-start]
Click in the box to restart automatically if the
input signal goes OFF when the robot is in the wait state at the
boundary of the specified monitoring area.
[Error-stop in Teach mode]
Click in the box to turn ON the
Input of the RT monitor and also bring the robot to an error stop
when detected in Teach mode.
[Input terminal]
An input terminal to bring the robot to an error
stop before entering into the monitoring area.
[Output terminal]
Specifies an output terminal that
stays in ON state while the robot is in the specified
monitoring area.
10-5. Cube monitor settings
Warning
·
Never enter into the safety fenced area although the robot is stopped by this
function.
·
Take measures so that people know if the robot is stopped by the Cube
monitor function.
10-5-1. What is the “Cube monitor” function?
•
It monitors if the tool center point of the robot is within the specified monitoring area.
•
Rectangular solid area is specified as a monitoring area, therefore, it is called “Cube monitor”.
•
By monitoring the movement of the tool center point (the tip position of the tool) with this function, it is
possible to prevent interference (collision) of robots if more than one robot is used in the same work area.
•
The functions of Cube monitor:
(1) It outputs signal while the robot is in the specified monitoring area.
(2) The robot stops at the boundary of the specified monitoring area when an external signal is input.
•
You can specify the number of monitoring areas. (See section “System data adjustment” for setting details.)
Example application:
Use this function to share the same work area with two robots.
In the figure on the right, as the robot on the left is in the
monitoring area, the Cube monitor output is output.
By connecting the Monitor output terminal of the robot on
the left side to the Monitor input terminal of the robot on the
right, the robot on the right will stop at the boundary of the
monitoring area.
Stop
Monitoring area
Output ON
Input ON
When the mode select switch is in the “Teach” position, it is possible to move the robot within the
monitoring area even though the input signal in ON. However, regardless of the position of the mode select switch,
the output signal is ON while the robot is within the monitoring area.