5Functions set with parameters
Interference avoidance function 6-523
5.24 Interference avoidance function
The robot can be moved while checking for interference by this function. The target of an interference check
is shown below.
1. Between robots. (Only CR7xx-Q controller)
2. Between robot and free plane limits.
The damage of robot or peripheral device can be reduced by predicting interference between robots or free
plane limits and stopping the movement during jog operation or automatic operation.
When interference is predicted, the robot movement will stop. The robot can be programmed to generate an
alarm or to restore operation.
[Target models]
Between robots: Only the RH-F/RV-F series CR7xx-Q controller. (User mechanisms not supported.)
Between robot and free plane limit:
RH-F/RV-F series. (User mechanisms not supported.)
* Refer to Page 525, "5.24.2 Preparing and connecting the devices" about a corresponding version.
Fig.5-13:Interference check during robot operation (automatic operation, jog operation)
This interference avoidance function makes simulated robot arm, hand and work-
piece. If these simulated components overlap and pose the risk of interference, the
robot movement is controlled so that interference does not actually occur.
Simulated components that match the robot movement must be registered, and this
function does not completely ensure that interference will be prevented.
Examples of avoidable interference
By using this function, control can be executed to prevent interference caused by the
following robot movements.
1) Robot collisions during jog operation caused by incorrect operations.
2) Robot collisions during automatic operation caused by program mistakes.
3) Robot or peripheral device collisions due to unintentional sequence entered dur-
ing restoration work.
4) Robot collisions caused by improper interlock for an automatic robot operation
performed at high-speed for the first time.
5) Robot collision between two robots moved at different overrides.
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