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(2) Area Input
(a) Overview
AREA Input is a state that is enabled (or disabled) when the robot intrudes into or moves outside an area that
is specified beforehand. Configuration of up to three areas is supported.
The relation of the positions of the arm model and tool model, which are defined in Chapter 4.3 , to an area
specified in this sub-section is monitored in real time, which switches AREA Input between the enabled and
disabled states.
(b) Timing diagram
Intrusion of a monitoring position of the robot into a specified area enables the AREAn input.
Robot position
ロボット位置
Enabled
有効
AREAn入力
AREAn input
Disabled
無効
Fig. 4-21: Area input
Specified
設定した
area
領域
Fig. 4-22: AREA Input timing diagram
4 SAFETY MONITORING FUNCTIONS
Area 1
Safety Logic Edit 4-33
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