YASKAWA DX100 - Shock Detection Function; Shock Detection Function Setting; Shock Detection Level Setting

8 System Setup
DX100 8.7 Shock Detection Function
8-74
8.7 Shock Detection Function
8.7.1 Shock Detection Function
The shock detection function is a function to decrease damage due to the
collision by stopping the manipulator without any external sensor when
the tool or the manipulator collide with peripheral device.
When the shock is detected either in teach mode or in play mode, the
manipulator is stopped immediately.
8.7.2 Shock Detection Function Setting
The shock detection function is set not to mis-detect the shock even if
operating by the ratings load with the maximum speed when shipping from
the factory. If tool load information is set correctly, the detection sensitivity
can be improved. Moreover, it is possible to set the lower sensitivity of
detection only for a specific section where the contact work etc. The
sensitivity of detection is set by setting the detection level.
8.7.2.1 Shock Detection Level Setting
The shock detection level is set in the shock detection level set file.
The shock detection level set file are nine condition files as following
figure.
• Condition number 1 to 7 are used when the detection level is
changed in a specific section in play mode.
• Condition number 8 is used as standard in play mode: this function is
operated by the detection level set in this file when playback opera-
tion.
• Condition number 9 is for teach mode: the shock detection function
applies the detection level set here when the manipulator is operated
in teach mode.
The detection level is changed by a job instruction SHCKSET.
• After the instruction is executed, the shock will be detected by the
specified detection level when the condition number is specified with
the SHCKSET instruction.
• The detection level is returned to standard level when the SHCKRST
instruction is executed.
WARNING
This function does not completely avoid damage to the peripheral
devices; moreover, it does not guarantee the user’s safety.
Make sure to prepare the safety measures such as the safeguarding
etc. Refer to chapter 1 “Safety” at page 1-1 to chapter 6 “Test of
Program Operation” at page 6-1 for the safety measures in details.
Failure to observe this warning may result in Injury or damage to
machinery caused by contact with the manipulator.
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