8-82
182582-1CD
182582-1CD
8 System Setup
8.7 Shock Detection Function
MH900, DX200 Controller
Method of Shock Detection Level File Setting
1. Select {ROBOT} under the main menu.
2. Select {SHOCK SENS LEVEL}.
– The EACH AXIS LEVEL window appears.
– Perform either of the following operations to display the page of
desired condition number:
(1) Press [PAGE] in the window. Enter the desired condition number
using numeric keys and press [ENTER]. Then the page of the con-
dition number appears.
(2) Press the [PAGE] to change the condition number.
3. Level setting for the condition numbers 1 to 8.
Level setting values can be set for each axis on the EACH AXIS
LEVEL window.
Perform the following “Disturbance force measurement”, then perform
“Setting all levels at once”.
Disturbance force measurement
Mount the tool, workpiece, external equipment, and equipment on
the arm to the manipulator.
Set the tool file correctly.
For spot welding : Set the gun load information (weight and center
of gravity). To use the gun change function,
while removing the gun, switch to the tool file
with which the load information without a gun
is set.
For handling : Set the total load information (weight and
center of gravity) of the hand and the maximum
load workpiece.
For other applications
: Set the load information (weight and center of
gravity) of the tool.
Set the detection level values of all the axes to 100.
(1) Open the SHOCK DETECT LEVEL window.
(2) Select {DATA}, then {CLEAR MAX VALUE}.
Perform the JOB.
Setting all levels at once
Open the SHOCK DETECT LEVEL window.
Select {DATA}, then {CHANGE EVERY LEVEL}.
Enter 120 in the coefficient (%) by which the max. disturbance force
is multiplied.
The following calculated value A or B, whichever is larger, is set to
the DETECT LEVEL.
A: (Max. disturbance force) x (coefficient = 120%)
B: (Max. disturbance force) + 15
<Example>
When the max. disturbance force is 80, the DETECT LEVEL is 96.
When the max. disturbance force is 10, the DETECT LEVEL is 25.
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