3.19Collision detection command3.19Collision detection command
application commands (FN) will be executed after application commands (FN) will be executed after
reaching the recorded position of reaching the recorded position of
the step data.the step data.
Therefore, it is impossible to operate the robot Therefore, it is impossible to operate the robot
like “change the motion path” or “turn ON an output like “change the motion path” or “turn ON an output
signal” untilsignal” until
it reaches the target step.it reaches the target step.
This function makes it possible to make the robot jump to the designated step (=change the motion path) orThis function makes it possible to make the robot jump to the designated step (=change the motion path) or
stop with error message by detecting the collision to the peripheral equipments or the work-pieces by checkingstop with error message by detecting the collision to the peripheral equipments or the work-pieces by checking
the motor current.the motor current.
Example of the operationExample of the operation
COLDET[1,1,7]COLDET[1,1,7]
COLDET[0,1,9]COLDET[0,1,9]
When not detecting the collisionWhen not detecting the collision
Collision detectionCollision detection
When detecting the When detecting the
ET[1,1,7] Start the detectionET[1,1,7] Start the detection
ET[0,1,9] Stop the detectionET[0,1,9] Stop the detection
In this example, the FN31 COLDET is recorded after the In this example, the FN31 COLDET is recorded after the
The detection area (where the collision detection function is enabled) is the steps that are sandwiched byThe detection area (where the collision detection function is enabled) is the steps that are sandwiched by
In this area, if the robot detects the designated collision condition, it goes to In this area, if the robot detects the designated collision condition, it goes to
the shelter step (S7). (The path shownthe shelter step (S7). (The path shown
in the dotted line in the picture)in the dotted line in the picture)
If the designated collision condition is not detected, the robot will follow the normal flow of the work program.If the designated collision condition is not detected, the robot will follow the normal flow of the work program.
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