IAI America SEL-TG - Manual (Page 193)

12. Coordinate System Data Editing of the SCARA
Axis
: 1 axis – 4 axis of the X-SEL-KX and PX/QX controller
175
14
.3. Editing of simple interference check zone
It is required to input the following 3 items to set the simple interference check zone:
ƒ 2-point position data to define the zone. (Input the values of the base coordinate system.)
ƒ Output port No. or global flag No. for output during zone invasion.
ƒ Error type at zone invasion time. (0: No error-handling, 1: Message level error, 2: Motion reset
level error.)
As an input example of the simple interference check zone, a zone as shown below is set for the
simple interference check zone No. 1.
Base coordinate values of 㿈: Xb = 475, Yb = -50, Zb = 150, Rb = 0
Base coordinate values of 㿎: Xb = 400, Yb = 50, Zb = 200, Rb = 180
Output port for output during zone invasion: No. 311
Error type at zone invasion time: 1
Mode flow:
This is the simple interference check zone No.
selection screen.
The cursor is located at the simple interference
check zone No.
To select the simple interference check zone No.,
enter the No. with the 10 key or the PAGE UP and
PAGE DOWN keys, and confirm it with the return
key.
This example indicates the setting of the simple
interference check zone No. 1.
Press the return key as it is.
12.3.
The change of the 1-4 axes and 5-8 axes of RXD/
SXD please push the F2 key.