Interference Configurations

    The interference zone is a function that prevents the interference between the robot and other robots or perpheral device. Elite Robots allows the user to configure up to 16 interference zones. The types of interference zone include cubic type and joint type.

    The output signals of the interference zone 1 to 16 are using virtual registers from M440 to M455 respectively. If the TCP moves into a designated area configured with cubic interference zone, or a joint enters a certain range configured with joint interference zone, the corresponding M register will go HIGH. If the robot have left the interference zone the signal will return to LOW. If the interference status needs to be shared with an external device, the simplest way is mapping the corresponding M register to a Y register by the PLC program, and wire the corresponding output port on the I/O board to the desired external device. Using Modbus protocol to communicate the robot with the desired device is also an option. 

Cubic Interference Zone

    The Cubic Interference Zone is relative to the base coordinate system. (Cartesian coordinate system using the base as origin.) The system determines whether the TCP is inside or outside this area, and output the signal for status. (ON for inside, OFF for outside.)

    There are two ways to set cubic interference zone:

• Configuration by Vertex (corner to corner)

1. Select Preparation -> User config.
2. Set "Type" to "Cube" and "Mode" to "Vertex".
3. Choose "Vertex 1", move the robot to the position of vertex 1 the cube and click "Position 1" in the sub-menu.
4. Choose "Vertex 2", move the robot to the position of vertex 2 the cube and click "Position 2" in the sub-menu.
5. Click "Save" in the sub-menu bar, and the target cubic interference zone will be set. 

                                                                                                Figure 1. Configuration by Vertex

• Configuration by Center Point

1. Select Preparation -> User config.
2. Set "Type" to "Cube" and "Mode" to "Center".
3. Choose "Center point", Move the TCP to the center point of the cubic zone and click "Position 1" in the sub-menu.
4. Enter the length, width, and height of the cube.
5. Click "Save" in the sub-menu bar, and the target cubic interference zone will be set. 

                                         Figure 2. Configuration by Center Point

Joint Interference Zone

    The joint interference zone is a function that determines whether the current angle of each joint axis lies in a specified range. If any of the axis angle is less than the configured minimum or bigger than the configured maximum value, the corresponding M register to this interference number will output the status. (ON for inside, OFF for outside.)

1. Select Preparation -> User coordinate.
2. Set "Type" to "Joint". Select the desire axis number.
3. Select "Min", move the joint to the minimum joint angle and click "Set Point 1".
4. Select "Max", move the joint to the minimum joint angle and click "Set Point 2".
5. Record the points be pressing "Set" in the sub-menu area.

P.S. Ignore the XYZ, RxRyRz settings when using Joint Interference Zone.

                                             图                                           Figure 3. Joint Interference Zone