Monitoring Areas for a SCARA Manipulator

The monitoring areas for a SCARA Manipulator are specified within the restricted range of a X_W-Y_W plane in the coordinate system X_W-Y_W where the robot with Safety Limited Position is installed. There are 16 configurable restricted range patterns, (a) through (p).
These monitored areas are set as the positions (X₁, 0), (X₂, 0), (0, Y₁), (0, Y₂) that intersect with the coordinate system X_W-Y_W where the robot is installed. The robot monitoring range is monitored to ensure that it does not enter the monitoring areas.