Free Plane Limit; The Definition Of A Free Plane Limit - Mitsubishi Electric CR750-Q Instruction Manual

5Functions set with parameters

5.9 Free plane limit

Defines any plane in the world coordinate system, determines the front or back of the plane, and generates
a free plane limit error.

5.9.1 The definition of a free plane limit

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Note) The figure is an example of a vertical 6-axis robot.
In horizontal 4-axis robot is the same.
Parameter and value
SFCnP(n=1 to 8)
SFCnME(n=1 to 3)
SFCnAT(n=1 to 8)
After setting the parameters above, turn the controller's power ON again. This will allow the generation of
free plane limit error when it crosses the plane.
5-480 Free plane limit
P３
Specifies the 3 points that define the plane.
P1 coordinates X1, Y1, and Z1: The origin of the plane
P2 coordinates X2,Y2,Z2: A position on the X axis of the plane
P3 coordinates X3,Y3,Z3: A position in the positive Y direction of the X-Y plane in the plane
Specifies the mechanism number to which the free plane limit applies. Usually, set up 1.
In the case of multiple mechanisms, the mechanism numbers are specified.
Designate the valid/Invalid of the set free plane limit.
0:Invalid
1: Valid (The operable area is the robot coordinate origin side.)
-1: Valid (The operable area is the side where the robot coordinate origin does not exist. )
As can be seen in the diagram to the left, any
plane can be defined by three points (P1, P2, and
P3), after which an evaluation of which side of the
plane it is in (the side that includes the robot ori-
gin or the other side) can be performed.
This function can be used to prevent collision with
the floor or interference with peripheral devices.
Maximum of eight planes can be monitored.
There is no limit to the plane.
Explanation