3.19Collision detection command
Collision torque monitor
To use this monitor window, select the operator class
(Please use the Shortcut R314)
Open <Monitor2> - [74 Collision
The collision torque parameters calculated for every servo control interpolation
- For the “Maximum”, the value is measured in the collision detection area sandwiched by
COLDET functions (ON/OFF) and when the function is ended, the maximum value is left in
new collision detection area or when
turning OFF the servo control, the
maximum value will be cleared.
Collision detection interruption
When designating [10000] as the shelter step number for t
he FN31 COLDET function, it is possible to stop the
When the collision is detected in the detection area that is sandwiched by the “FN31 COLDET functions)”, the
following message is displayed and the robot
will stop the playback motion.
Please confirm whether the robot manipulator interferes in something.
The limit of the number of the collision detection function
The FN31 function can be executed up to 4 at the same time.
When trying to exceed this limit number by executing the FN31 COLDET, the following message is displayed
and the robot will stop the playback motion.
erminate the unnecessary Collision
To Next Page
Loading...