About User-Defined Area - Mitsubishi Electric CR750-Q Instruction Manual

5Functions set with parameters

5.8 About user-defined area

The user-defined area has the function of continuously monitoring whether or not the robot control point falls
within any position area which is specified by parameter settings. The user can choose between the option
to output the state of the robot control point being within or outside that area and the option to effect an
error-stop when the robot control point is within that area, by using dedicated input/output or state variables.
This function is instrumental in letting the robot operate in coordination of its peripherals or in avoiding inter-
ference between the robot and the peripherals, where the robot shares work space with the peripherals.
Besides position area, this function can be used for making judgment on the robot in relation to posture area
or additional axis area, as well.
This function can be used by the following parameter setting.
1) Selecting a coordinate system which serves as a reference system (parameter: AREAnCS)
2) Specifying a user-defined area (parameter: AREAnP1 and AREAnP2)
3) Specifying a mechanism to be checked (parameter: AREAnME)
4) Specifying a desired behavior when the robot enters user-defined area (parameter: AREAnAT)
The following is a detail description of the respective parameter settings.
5-474 About user-defined area