Monitoring Areas for a 6-Axis Manipulator

The monitoring areas for a 6-Axis Manipulator are specified based on a combination of the restricted range pattern of a X_W-Y_W plane and the restricted range pattern in the Z_W direction in the coordinate system X_W-Y_W-Z_W where the robot with Safety Limited Position is installed. There are 16 configurable restricted range patterns on a X_W-Y_W plane, (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.

There are three configurable restricted range patterns in the Z_W direction, (q) through (s). These monitored areas are set as the positions (Z₁, Z₂) in the Z_W direction in the coordinate system where the robot is installed. The robot monitoring range is monitored to ensure that it does not enter the monitoring areas.