Nachi EZ-CFDL Series - Page 44

3.19Collision detection command3.19Collision detection command
3.19.33.19.3
Settings for the conditions for the Collision detectionSettings for the conditions for the Collision detection
To use this function, the following setting is necessary.To use this function, the following setting is necessary.
Select the operator classSelect the operator class
EXPERTEXPERT
or higher in advance.or higher in advance.
(Please use the Shortcut R314)(Please use the Shortcut R314)
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Open <Service Utilities> - [39 Collision detection.]Open <Service Utilities> - [39 Collision detection.]
“Collision watch value” can be set only “Collision watch value” can be set only
for a manipulator (robot).for a manipulator (robot).
oror
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Select the condition No. to be set.Select the condition No. to be set.
Numeric keysNumeric keys
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Set the respective parameters.Set the respective parameters.
(NOTE)(NOTE)
When “0.00” is set, When “0.00” is set,
the concerned axis or the moment of the concerned axis or the moment of
the coordinate system isthe coordinate system is
disabled.disabled.
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Press <Complete> to save tPress <Complete> to save t
he setting to the internal memory.he setting to the internal memory.
ParametersParameters
Item DescriptionItem Description
Comment Comment
Comment Comment
of of
this this
conditioncondition
Watch Watch
coordinate coordinate
Select Select
the the
coordinate coordinate
system system
for for
detecting detecting
the the
collision.collision.
(“Machine (robot)”, “Tool”, or “User”)(“Machine (robot)”, “Tool”, or “User”)
(NOTE) The user coordinate system must be defined in advance.(NOTE) The user coordinate system must be defined in advance.
Number Number
In In
case case
of of
“T“T
ool”, set ool”, set
the the
tool number.tool number.
In case of In case of
“User”, set the user “User”, set the user
coordinate system number.coordinate system number.
Hold Hold
variable variable
Select Select
the the
type type
of of
the the
variable variable
that that
holds holds
the the
maximum maximum
collision collision
powerpower
..
(From the “Global real variables” or the (From the “Global real variables” or the
“Local real variables”)“Local real variables”)
Number Number
Set the Set the
number number
of the of the
real vreal v
ariable to ariable to
be used.be used.
When 0 is set, the When 0 is set, the
maximum collision power is not held in maximum collision power is not held in
the variable.the variable.
Mechanism Mechanism
Select Select
the the
target target
mechanism mechanism
to to
detect detect
the the
collision.collision.
Only manipulators (robots) can be selected for this item.Only manipulators (robots) can be selected for this item.
Collision watchCollision watch
valuevalue
Set the collision torque for eaSet the collision torque for ea
ch axis or moment of inertia.ch axis or moment of inertia.
When 0.00 is set, the When 0.00 is set, the
axis or the coordinate system (moment) is disabled.axis or the coordinate system (moment) is disabled.
(NOTE) For this parameter, please refer to the collision torque monitor and check(NOTE) For this parameter, please refer to the collision torque monitor and check
the maximum values in case of normal motion.the maximum values in case of normal motion.