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9-2
9.2 Interference Area Coordinates
AREA (Statement )
Function
Declares the area where an interference check is performed.
Format
AREA <Area number>, <Position>, <Vector>, <I/O number>, <Position type
variable number for storing interference position>
[,<Error output>]
Explanation
This statement declares an interference check area.
The number of areas that can be declared with <Area number> is 8, from 0 to
7.
<Position> is the center position and angle of an interference check area.
<Vector> designates the interference check area zone.
The side length of an area becomes twice each component of <Vector>.
Designate the I/O number, which is set when interference occurs in the
interference check area, to <I/O number>. The status of I/O is maintained until
RESETAREA is executed or the I/O is RESET.
In Version 1.8 or later,
<I/O number>
can be expressed in variable such as
IO104 or IO[104]. Also in Version 1.8 or later, setting -1 to
<I/O number>
prohibits output to the I/O line.
<P variable number for interference position>
is a position variable
number in which you want to save the coordinates where area interference
occurs. In Version 1.8 or later,
<P variable number for interference
position>
can be expressed in position variable such as P55 or P[55].
Also in Version 1.8 or later, setting -1 to
<P variable number for
interference position>
prohibits assignment to the position variable.
In Version 1.8 or later,
<Error output>
is any of the following numbers.
<Error
output>
The system will detect
it as an error when:
Error signal output
0No
1Yes
2
The robot arm invades
the defined area.
Yes (You may switch to Manual mode and
operate the robot manually for recovery.)
3No
4Yes
5
The robot arm exits
from the defined area.
Yes (You may switch to Manual mode and
operate the robot manually for recovery.)
To check interference, the system compares the cube defined as an
interference check area with the origin of the currently active tool coordinates.
If the origin of the tool coordinates is inside the interference check area, then
the system determines it as interference.
If area interface is detected and the I/O signal is set to active, then the system
will get the origin of the current tool coordinates in the user coordinates into a
position variable number specified by
<P variable number for interference
position>
. Usually, the origin of the tool coordinates lies on the surface of the
cube; however, if the origin lies inside the cube at execution of SETAREA, the
system gets that position into
<P variable number for interference position>
.
The interference area can be set using either WINCAPSII or the teach
pendant.
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