YASKAWA DX200 - Page 170

8 System Setup
8.7 Shock Detection Function
8-83
182582-1CD
182582-1CD
MH900, DX200 Controller
4. Level setting for the condition number 9.
The level setting for the condition number 9 is for the teach mode.
This setting is made for each group.
Refer to the max. disturbance force to set the DETECT LEVEL.
• Perform all the jobs to use for 5 to 6 hours.
• For handling application, if a work job is performed both
with holding a workpiece and without holding a workpiece,
measure both patterns.
• In the event of a collision while measuring the max.
disturbance force, clear the max. disturbance force by
selecting {DATA}, then {CLEAR MAX VALUE}. Then try
again.
• The max. disturbance force is cleared when the power is
turned ON/OFF. Therefore, DO NOT set the level based
on the max. disturbance force immediately after turning
ON/OFF the power.
• When the teaching point, operation speed, operation
position, etc. of a job are greatly changed due to teaching
modification, etc., measure the max. disturbance force
and set the DETECT LEVEL again.
• When the load of tool or workpiece is greatly modified,
measure the max. disturbance force and set the
DETECT LEVEL again.
• To avoid false detection during manipulator operation,
set the following calculated value A or B, whichever is
larger, to the DETECT LEVEL. An emergency stop of
the manipulator due to the false detection may become
a factor to damage the speed reducers and tools.
• A: (Max. disturbance force) x (coefficient = 120%)
B: (Max. disturbance force) + 15
<Example>
When the max. disturbance force is 80, set the
DETECT LEVEL to 96 or more.
When the max. disturbance force is 10, set the
DETECT LEVEL to 25 or more)
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