[Cause]
The robot is about to move to a position with self-interference.
[Countermeasure]
After pressing the alarm clear button, move the robot toward a position without self-interference. If an interference alarm is issued even when moving in a direction without interference, return to a position without interference using one of the following methods.
1. Move the robot by direct teaching (free mode when mode selection is available).
2. With an iPendant, press the SHIFT key and alarm clear button together, then hold down SHIFT and perform joint jogging.
3. With a tablet TP, perform joint jogging while the alarm is temporarily cleared.
代码
Note: Operations 2 and 3 can also move the robot in a direction that increases interference. Be sure to use a low speed override and carefully check the motion direction while operating.