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8.2.4. Cartesian space

8.2.4. Cartesian space​

 

To prohibit the robot crash against the pillar in the fence, you will make it as protected space. Set the space 1 as below figure. We will use just global TCP speed limit, so ignore the setting of TPC speed setting of this page. And sometimes a human worker enters into the fence, make the space in front of the fence door the second protected space. Make it activated by Safety I/O. (activated by fence door or laser sensor)

 

Figure 8.9 protected space - pillar

 

 

Figure 8.10 protected space – human worker

 

Figure 8.11 protected spaces in HRSpace 3D view