Space Limit and Zone Shape

The shape of Space Limit / Zone is set as a cuboid.

• Enter the lower endpoint (Point 1) and upper endpoint (Point 2) of the cuboid and tap the Save Pose button.

The shape of Space Limit / Zone is set as a tilted cuboid.

Setting by 4 Points

• Enter the reference point (Point 1), x-axis endpoint (Point 2), y-axis endpoint (Point 3), z-axis endpoint (Point 4) of the tilted cuboid and tap the Save Pose button.
• The three lines (Point 1-Point2, Point 1-Point 3, Point 1-Point 4) must cross each other at right angles. (a deviation of +/- 5 degrees is acceptable)
• Using the Constraint Motion of “Surface Lock” and “Axis Lock” based on Point 1 will help the robot obtain Point 2, Point 3 and Point 4 more easily.

Setting by 3 Points and Height

• Enter the reference point (Point 1), the point on the x-axis (Point 2), and the point on the xy-plane (Point 3).
  
• The location of the point on the xy-plane(Point 3) determines the direction of the y-axis, which is perpendicular to the line formed by the reference point (point 1) and the point on the x-axis (point 2) and located on the xy-plane.
  

• Once the reference point, x-axis direction, and y-axis direction are determined, the z-axis direction is determined by the right-hand rule.
  
  
• After the reference point and three axis directions are determined, the size of the tilted cuboid can be specified by setting the length, width, and height.
  
  
• Tilted cuboid can be moved parallel (parallel translation) by setting the x, y, and z offset.
  
• After reaching the endpoint(vertex) of the tilted cuboid by pressing “move to” beside Actual Point 1, then pressing the “move to” beside Actual Point 2, Actual Point 3, or Actual Point 4, Robot TCP will move it along the edge of the tilted cuboid as far as it can reach. The position and direction setting of the tilted cuboid can be verified this way.
  

The shape of Space Limit / Zone is set as a cylindrical.

• Enter the point at a radius distance, the point of the upper plane and the point of the lower plane of the cylinder, and tap the Save Pose button.

The shape of Space Limit / Zone is set as a multi-plane box.

• Set the height of the top and bottom of the multi-plane box and press the Add Pose button to add a plane.
• Select X and Y coordinates to set the direction of the plane and tap the Save Pose button. Up to six planes can be configured.
• Set the coordinates for the points of the area to be configured.

The shape of Space Limit / Zone is set as a sphere.

• To configure the radius, enter the positions of the center point and endpoint of the sphere, and to configure the diameter, enter two endpoints of the sphere, then tap the Save Pose button.