8 Parameter8.4 Parameters according to Interference Area8-30155223-1CDRE-CSO-A036 S2C051 to S2C114: CUBE USING METHODThese parameters specify the coordinates for defining the cube. If the user coordinates are selected,also specify the user coordinate system numbers. Set cubic area referring to the cubic interferenceareas shown below.Coordinate No.: Specify the user coordinate number when selecting “3: User Coordinates.”Units: 1μmCoordinate specification0 : Pulse (axis interference)1 : Base coordinates2 : Robot coordinates3 : User coordinatesPrecaution When Setting the Interference AreaIt will be necessary to consider the following when setting the cubic interference and S-axisinterference areas. The manipulator is processed to decelerate to stop from the pointwhere it enters in the area. Therefore, set the areas in consideration of the amount of themanipulator movement in the deceleration section shown in the figure below.The move amount in the speed reduction section is dependent on the moving speed of themanipulator at that time:V = 1500mm/s approx. 300mm (Max.)V = 1000mm/s approx. 160mmV = 30mm/s approx. 3 to 4 mmV = 20mm/s approx. 2mmSUPPLE-MENTStopDecelerationInterference areaSpeedMovementSpeed reduction section318 of 435
