8 System Setup
DX100 8.7 Shock Detection Function
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8.7.2.2 Tool Load Information Setting
To increase the accuracy of shock detection, set the tool load information
in the tool file. Refer to chapter 8.4.3 “Tool Load Information Setting” at
page 8-43 for details of the tool load information setting.
8.7.2.3 Instruction of Shock Detection Function
SHCKSET instruction
The SHCKSET instruction changes the shock detection level to the value
set in the shock detection level file during play back operation.
The additional items of the SHCKSET instruction are as follows.
Robot Setting
Specifies the manipulator of which shock detection level is to be modified.
If nothing is specified, the modification is applied to the shock detection
level of the job control group in this instruction. However, in case of
coordinated job, the modification is applied to the shock detection level of
the slave axis group.
Shock Detection Level Condition Number (1 to 7)
Specifies the shock detection level condition number in which the
detection level in playback mode is set.
SHCKRST instruction
The shock detection level changed by the SHCKSET instruction is reset
and returned to the detection level of the standard (value set in condition
number 8) by the SHCKRST instruction.
The additional item of the SHCKRST instruction is as follows.
Robot Setting
Specifies the manipulator of which shock detection level is to be reset.
If nothing is specified, the modification will be applied to the shock
detection level of the job control group of this instruction. However, in
case of coordinated job, the modification is applied to the shock detec-
tion level of the slave axis group.
Instruction Registration
The instruction is registered when the cursor is in the address area in the
JOB CONTENT window in teach mode.
SHCKSET R1 SSL#(1)
SHCKRST R1
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