Nachi EZ-CFDL Series, Инструкция по эксплуатации

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4.4Interference Territory registration 4.4Interference Territory registration
9 9 Press the <Complete> f key. Press the <Complete> f key.
This now completes the settings. This now completes the settings.
10 10
If plural interference territories need to be defined, switch the screen by If plural interference territories need to be defined, switch the screen by
pressing [Prev No] or [Next
pressing [Prev No] or [Next No] key and continue the No] key and continue the registration procedure. registration procedure.
11 11 Next, following I/O signals for all interference area need to be allocated. Next, following I/O signals for all interference area need to be allocated.
Basic in Basic input s put signal ignal “Ter “Territory ritory position position 1 to 1 to 16” 16”
Basic output signal “Territory position 1 to 16” Basic output signal “Territory position 1 to 16”
“4.6 Signal attribute settings” “4.6 Signal attribute settings”
Furthermore, it is strongly recommended that logic of above output signal is Furthermore, it is strongly recommended that logic of above output signal is
changed to “N“. Select <Constant Setting> - [6 Signals] - [7 Signal Attribute] - [2
changed to “N“. Select <Constant Setting> - [6 Signals] - [7 Signal Attribute] - [2
Output Signal], and change logic to “N” (negative) of the output signal which is
Output Signal], and change logic to “N” (negative) of the output signal which is
allocated to “Territory position 1 to 16” signal.
allocated to “Territory position 1 to 16” signal.
This is a sample screen when This is a sample screen when output signal No.10 is allocated to “Interference area”. output signal No.10 is allocated to “Interference area”.
When robot is When robot is outside the interference territory, “interference area output signal” is outside the interference territory, “interference area output signal” is ON. ON.
And before And before robot is robot is getting into getting into the interference the interference territory territory, robot , robot waits for waits for “interference “interference
area input signal” ON. area input signal” ON.
12 12 Next, “Max. radius of tool” Next, “Max. radius of tool”
parameter needs to be defined.
parameter needs to be defined.
4.5.6 Max. Radius of tool” 4.5.6 Max. Radius of tool”
When checking the interference When checking the interference
between the robot (tool) and
between the robot (tool) and
interference territory, tool shape is
interference territory, tool shape is
considered as the sphere whose
considered as the sphere whose
center is TCP (tool control point)
center is TCP (tool control point)
and whose radius is “Max. Radius
and whose radius is “Max. Radius
of tool”. If tool scale is not to be
of tool”. If tool scale is not to be
ignored, please define its size.
ignored, please define its size.
Max. Radius of tool Max. Radius of tool
Example of “Box” Example of “Box”
Interference Interference
Territory Territory
Robot Robot
TCP TCP
(Tool Control Point) (Tool Control Point)
Tool shape is considered Tool shape is considered
as the sphere whose
as the sphere whose
center is TCP (tool control
center is TCP (tool control
point) and whose radius is
point) and whose radius is
“Max. Radius of tool”.
“Max. Radius of tool”.
14 14 Similar setting is necessary to the other robot that has same interference Similar setting is necessary to the other robot that has same interference
territory.
territory.
In case that “Position” is set to except “Program” in step In case that “Position” is set to except “Program” in step 5 5
7 7 When set to “Manual” : When set to “Manual” :
Move the robot by manual operation to the center position of interference
Move the robot by manual operation to the center position of interference
territory , and press f11 < Record Current P
territory , and press f11 < Record Current P osition. > key. osition. > key.
Current position is read from the robot encoder, and the position data is displayed in Current position is read from the robot encoder, and the position data is displayed in
the center.
the center.
When set to “Numerical” : When set to “Numerical” :
Directly key in the
Directly key in the XYZ value in XYZ value in “Center” of interference territory “Center” of interference territory..