YASKAWA DX100 Instructions Manual

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3 Setup (Safety Range Function for Robot)DX100 3.2 Preparation for Safety Range Function3-3HW0486052HW04860523.2 Preparation for Safety Range FunctionFor the safety range function for the robot arm, set the safety range of therobot arm as polygonal columns in advance. Then, the robot arm ismonitored so that it does not exceed the safety range.If any monitoring error is detected, the servo power will be turned OFF.The outline of the operating procedure is as follows:(1) Setting tool interference fileÈ(2) Setting safety range for robotÈ(3) Confirming safety range for robotÈ(4) Starting safety range function for robotEach operating procedure is explained below.3.3 Setting Tool Interference FileThe safety unit also monitors that the robot tool does not exceed thesafety range. In this case, set the tool shape in the tool interference file.To set the tool interference file, the security mode must be EDITINGMODE or higher.• Cylinders and spheres for up to 5 positions can be set.• Both ends of a cylinder are set by POINT1 and POINT2.The distance from the center of T axis flange should be set like tooldimension setting.• The radius of the spheres and cylinder between POINT1 andPOINT2 is set. The spheres are set to POINT1 and POINT2.• The specified radius must have a margin of at least 10 mm com-pared with the actual tool.NOTEA single tool interference file can be used for a robot.The safety range function is set to the data in the tool inter-ference file #0 for R1 and that in the tool interference file #1for R2.18/56

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MOTOMAN DX100

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