YASKAWA DX200 Instructions Manual

Also see for Motoman DX200: Instruction manual Instructions Instructions Setup procedure Instructions

Contents

YASKAWA DX200 Instructions Manual Manual pdf 23 page image

3 Setup of Hand Guiding Function3.5 Setting of Area Limit3-5HW1485706HW14857063.5 Setting of Area LimitThe area to the translation can be limited so that the robot is preventedfrom contacting the external device when operating a robot by using thehand guiding function.When the following area intrusion signal is turned ON, the robot cannot beoperated further in the direction of intrusion.The area intrusion signal can be set together with the cubic interferencearea.Setting the cubic interference areaFollow the procedures below to set the cubic interference area.1. Press {ROBOT} under the main menu, and then {INTERFERENCE}under the sub menu.2. Since the interference signal window is displayed, select theinterference signal to use with {PAGE}.3. Set the cubic interference area.(Setting example in the X- direction)For the detail setting method of the cubic interference area, refer to DX200INSTRUCTIONS or YRC1000 INSTRUCTIONS.Ladder settingConnect the set cubic interference area specific output signal (#50080 -#50157) and the auxiliary relay (#70201 - #70206) for the area limit withthe concurrent ladder setting.Signal type Relay ContentsAuxiliary relay #70200 +X direction exceeded#70201 -X direction exceeded#70202 +Y direction exceeded#70203 -Y direction exceeded#70204 +Z direction exceeded#70205 -Z direction exceededItem Setting valueMethod Cubic interferenceControl group R1Check method Command positionReference coordinate BaseAlarm output OFFTeaching method Maximum value/Minimum valueComment X -500 -10000Y 10000 -10000Z 10000 -100001223/58