4 SAFETY MONITORING FUNCTIONS
4-30 Defining 3D Models
4.3.2 Arm model
The shape of the robot arm has been modeled with sphere models and cylinder models and the robot model is
used for judging the speed and area of the robot.
The model can be used as it is in the initial condition. However, when cables, solenoid valves, or etc. are
attached to the robot arm, resize the model as necessary.
(1) Changing monitoring models
To change monitoring models, open the Robot Model screen from Workspace by selecting [Online] ->
[Parameter] -> [Safety Parameter] -> [Safety option] -> [Robot Model].
Moving the slider bar resizes the monitoring model.
Monitoring model size: 70%
Monitoring model size: 100%
Monitoring model size: 150%
Fig. 4-16: Changing monitoring models
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