Used Robots.com: Panasonic G Advanced Programming

Operation Manual (Advanced Function) 6-1 Chapter.6 Interference M onitoring Function 6-2 RT motion moni toring < Outline > A function to monitor the RT axis motion to prevent robots from interference (collision) when
multiple robots are used in a system. Please note that this function only monitors the RT axis motion. It does not monitor
position or motion of tool nor overall manipulator to prevent intererence. This function consists of the following two functions which are used to prevent
intereference. ・ A function to turn ON the output to an external device (slave robot) when the robot is
within the monitoring area ・ A function to prohibit entering of the robot into the monitoring area when the robot
receives an input from an external device (slave robot) (the robot stops at the boundery
of the monitoring area.) HOLDING Monitoring area Output ON Input ON The robot at the left side turns ON the output since it is in the monitoring area. If the output is connected to the input port of the robot at the right side, the robot goes in
the holding state at the boundary of the monitoring area before entering into the
area. The monitoring area can be specified by setting a desired angle of RT axis.
It is possible to set monitoring direction (face or side) (See the following figure) Monitoring area (FFaceace)) Monitoring area
(Side)


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