Adding a User Interference Model for use with FSU

There are times that the robot needs extra protection (spheres or cylinders) added to protect equipment such as valve packs, wire feeders, etc.

The use of this function is detailed in section 4.3.10 of manual:  178949-1CD

Note:  This function is optional and can be used in YRC1000 system software version YAS4.74.00A(□)-00 or later. This function is enabled by parameter using a Yaskawa License key.

This function can extend the settings for the robot interference model by a maximum of three models (set consisting of a sphere and cylinder).  The offset distance at the center point of the sphere and the radius of the sphere can be set to the optional reference axis.  The cylinder can be set automatically to connect the added sphere and the sphere set to the reference axis.  The cylinder radius can be set automatically to fit the smaller radius of the sphere or the reference axis.

Follow the procedures below for this operation.
1. Set the security mode to safety mode, and then select {ROBOT} under the main menu.


2. Select {INTERFERENCE MODEL} in the sub menu.

 

<Details of the Window>

1. GROUP

Select a robot which you desire to add expanded model.

2. REFERENCE AXIS

Specify an axis where expanded robot model will be defined based on.

3. SPHERICAL RADIUS

Specify the radius of sphere and cylinder added.

4. OFFSET<X>

Specify the X distance from based the axis coordinate system toward expanded sphere model.
*This item is not the X distance in the robot coordinates. It is the X distance in the calculated coordinate system of the reference axis.

5. OFFSET<Y>

Specify the Y distance from based the axis coordinate system toward expanded sphere model.
*This item is not the Y distance in the robot coordinates. It is the Y distance in the calculated coordinate system of the reference axis.

6. OFFSET<Z>

Specify the Z distance from based the axis coordinate system toward expanded sphere model.
*This item is not the Z distance in the robot coordinates. It is the Z distance in the calculated coordinate system of the reference axis.

7. PAGE

The PAGE button will appear when the system has robots greater than two. The button switches the content of display to other robot group.