Virtual Fence Function for RC8/RC8A

The Virtual Fence is a collision prevention function. Monitoring  target objects, such as robots, tools, and equipment, are modeled by  WINCAPSIII.

Based on the modeling data, users can start and stop the monitoring by using the teach  pendant, mini pendant, or command.

NOTE:
This function is available in Ver. 1.12.* or higher. 

NOTE:
A full copy of Wincaps III is required to use this function.

Single Robot

If a single robot is used in a system, the system consists of a  controller and a robot as the following figure shows. There is no  communication with an external device. 

You can set the following items as  monitoring objects.  

1. Robot, equipment (including fence) , and tool
   The combination of monitoring objects is selected by parameters.
   - robot -to- equipment (including fence)
   - robot -to- tool
          - tool -to- equipment (including fence) 
2. Current value, command position, target position
   These items are set by parameters.
            All of them can be monitored  simultaneously.  

Cooperative Mode 

You can use virtual fence to monitor the robot arms in a cooperative mode setup.

In addition to the normal monitoring you can also monitor the following.
- robot-to-robot
       (*1) Robot-to-robot monitoring is available  only when the cooperative control function is enabled.