Setting Safety Position Monitoring

The SRCI coordinate system is rotated 90° around the Z-axis. Therefore, by setting "U_ROT" to -90, the X and Y coordinate values of the monitoring area can be specified in the SRCI coordinate system.

Warning

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If the controller does not run any SRCI commands, it will switch to the PROGRAM mode when RC+ is connected, and the robot can be operated on RC+.
When safety position monitoring is set in the Safety Function Manager, the XY coordinates specified by RC+ and the restricted area will be in a positional relationship of 90° deviation around the Z-axis, if -90 is set in U_ROT.
When the robot is to be moved with RC+, ensure that the robot does not enter the restricted area by taking into consideration the differences in the coordinates.
If the restricted area is not identified correctly, there is a risk that "a worker may accidentally enter the robot motion range" or "an obstacle may be placed within the motion range". Collisions with high-speed robots may result in serious injury and/or severe equipment damage.