IAI America XSEL-KX - Manual (Page 271)

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Part 4 Commands
4. Simple Interference Check Zone
The simple interference check zone is an area set for the purpose of checking possible interference
between the robot and peripherals.
In the case of tool coordinate system No. 0 (= tool coordinate system offsets are 0), entry into the simple
interference check zone can be detected based on the center of the tool-mounting surface. In the case of
tool coordinate system Nos. 1 to 127 (= tool coordinate offsets are valid), entry into the check zone can be
detected based on the tool tip.
(1) Notes on use of simple interference check zone
Entry into the simple interference check zone of the center of the tool-mounting surface (when tool
coordinate system No. 0 is selected) or the tool tip (when any of tool coordinate system Nos. 1 to
127 is selected) is detected. Entry of the R-axis periphery or parts other than the tool tip will not be
detected.
This function does not prevent entry into the simple interference check zone. It only detects that the
specified part has entered the zone.
Entry into the simple interference check zone cannot be detected reliably unless the entered part
stays in the zone for at least 5 msec. The function is designed as a simple check during low-speed
operation.
The locus is different between high-speed operation (operation at the actual operating speed) and
low-speed operation. Provide a sufficient margin to prevent interference. (During high-speed
operation, the locus tends to shift inward compared with during low-speed operation.)
The definition coordinates of simple interference check zone are always treated as data on the base
coordinate system (load coordinate system No. 0). Therefore, changing the load coordinate system
will not change the position of the simple interference check zone. Exercise caution.
After changing the definition coordinates of simple interference check zone, it will take at least 5
msec before the new settings are reflected in the check result.
During PTP operation, movements will not follow specified paths. When moving near an interfering
object (including the robot itself), always perform test operation at low speed and confirm absence
of interference, and then gradually raise the speed to an appropriate level.
(2) Setting the simple interference check zone
The simple interference check zone is set using position data on the base coordinate system.
Enter the maximum and minimum values defining the simple interference check zone.
Set the boundaries of the simple interference check zone in parallel with the base coordinate axes.
To set the rectangular solid shown at left as a
simple interference check zone, enter
coordinates of two points corresponding to one
of the combinations of (A)-(G), (B)-(H), (C)-(E)
and (D)-(F).
A B
C
D
E
F
G H