Approach Check Plane Settings

The approach check plane is used for checking whether the robot end effector is in one of the two areas divided by a plane. The position of the end effector is calculated by the current tool. The approach check plane is set using the XY plane of the base coordinate system. The approach check plane detects the end effector when it approaches the area on the + Z side of the approach check plane.

When the approach check plane is used, the system detects approaches in any motor power status while the controller is ON.

Specifies a coordinate system to create the approach check plane using the point data representing the translation and rotation based on the base coordinate system, and sets the approach check plane.

Robot parameter data is stored to the memory card in the Controller. Therefore, execution of the command writes to the memory card. Frequent writing to the memory card affects its product life. It is recommended to minimize the execution of the command.

• Tool selection
  The approach check is executed for the current tool. When you change the tool, the approach check may display the tool approach from inside to outside of the plane or the other way although the manipulator is not operating.