Setting up Space Function

You have to determine the “Common space measurements” for which you want to set a space function. Let’s say, for example, you want to set up a common space of 800 mm in X direction away from the robot of 450mm. In Y direction the length of the common space will be 2000mm centered according to World frame origin. Finally, the height of the common space will be 1400mm from Robot’s World frame origin starting below origin at -125mm. The set common space will be inside the taught zone.

You will find a downloadable PDF icon PDF version at the end of this page.

  • DURATION

+/- 30 minutes

  • DANGER

Disabling the space function may cause robot collision with other machines.

STEP BY STEP

  1. PRESS –> [ MENU ]
  2. SELECT –> [ 6 ] 6 SETUP
  3. SELECT –> [ 0 ] 0 NEXT
  4. PRESS –> [ x ] x Space fctn. (Depending on options installed)
  5. Using ARROW –> Scroll down to the desired space function. (see screenshot)
  6. PRESS –> [ F3 ] [ DETAIL ] 
  7. PRESS –> [ F2 ] [ SPACE ] 
  8. Using ARROW –> Scroll down to the desired space function coordinate of the BASIS VERTEX. (see screenshot)
  9. Enter the X coordinate of the common space according to World frame origin –> 1250
  10. PRESS –> [ ENTER ]
  11. Enter the Y coordinate of the common space according to World frame origin –> 1000
  12. PRESS –> [ ENTER ]
  13. Enter the Z coordinate of the common space according to World frame origin –> -125
  14. Using ARROWS, move to –> [ SIDE LENGHT ] or [ SECOND VERTEX ]
  15. PRESS –> [ ENTER ]
  16. PRESS –> [ F4 ] [ CHOICE ] 
  17. SELECT –> [ 2 ] 2 SECOND VERTEX (if not selected already)
  18. Using ARROW –> Scroll down to the desired space function coordinate of the SECOND VERTEX.
  19. Enter the X coordinate of the common space according to World frame origin –> 450
  20. PRESS –> [ ENTER ]
  21. Enter the Y coordinate of the common space according to World frame origin –> -1000
  22. PRESS –> [ ENTER ]
  23. Enter the Z coordinate of the common space according to World frame origin –> 1400
  24. PRESS –> [ ENTER ]
  25. PRESS –> [ PREV ]
  26. Using ARROW –> Scroll down to “Comment” line. (see screenshot)
  27. PRESS –> [ ENTER ]
  28. Enter comment.
  29. PRESS –> [ ENTER ]
  30. Using ARROW –> Scroll down to “Output Signal:” line.
  31. PRESS –> [ DO ] or [ RO ] Select type of output.
  32. Using ARROW –> Scroll right to the “Output Number:”
  33. PRESS –> [ ENTER ]
  34. ENTER  –> Output Number
  35. PRESS –> [ ENTER ]
  36. Using ARROW –> Scroll down to “Input Signal:” line.
  37. PRESS –> [ DI ] or [ RI ] Select type of input.
  38. Using ARROW –> Move to Input Number
  39. PRESS –> [ ENTER ]
  40. ENTER  –> Input Number
  41. PRESS –> [ ENTER ]
  42. Using ARROW –> Scroll down to “Priority”.
  43. PRESS –> [ F4 ] [ HIGH ] 
  44. Using ARROW –> Scroll down to “Inside/Outside”.
  45. PRESS –> [ F4 ] [ Inside ] 
  46. PRESS –> [ PREV ]
  47. PRESS –> [ F4 ] [ ENABLE ] (see screenshot)
  48. The green rectangular prism shows the common space that has been set:  (see screenshot)

Tutorial – Setting up Space Function (PDF)

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