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2.3 Workspace monitoring

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mahaarbo edited this page May 9, 2019 · 2 revisions

Workspace monitoring

A Cartesian workspace (Nr.8) is set up to fill available space inside the gantry legs and fence. Robot motion should stop if the TCP is outside of this workspace. It is intended as a last effort to avoid injury, but will not prevent collisions with anything inside the fence.

The workspaces are defined in

Configure

  • 9 Miscellaneous
    • 3 Monitoring working envelope
      • 1 Configuration Do not change it as its intention is to ensure the robot does not crash with the fence.

Dimensions

  • Origin X 0, Y 0, Z 0
  • Offset X1 -2571 Y1 -2373 Z1 0
  • Offset X2 1312 Y2 2830 Z2 3352

Robot stuck outside workspace

In T1 mode, workspace monitoring can temporarily be disabled in order to jog the robot back inside.

Configure

  • 9 Miscellaneous
    • 3 Monitoring working envelope
      • 0 Override

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