YASKAWA DX200 - Page 172

8 System Setup
8.7 Shock Detection Function
8-85
182582-1CD
182582-1CD
MH900, DX200 Controller
8.7.2.3 Tool Load Information Setting
To increase the accuracy of shock detection, set the tool load information
in the tool file. Refer to section 8.4.3 “Tool Load Information Setting” on
page 8-43 for details of the tool load information setting.
8.7.2.4 U-Arm Payload Setting
To perform shock detection more accurately, set the U-arm payload.
See section 8.4.2 “ARM CONTROL Window” on page 8-38 for details of
the U-arm payload setting.
8.7.2.5 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 modi-
fied. 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 detec-
tion level of the slave axis group.
Shock Detection Level Condition Number (1 to 7)
Specifies the shock detection level condition number in which the detec-
tion level in playback mode is set.
Changing the Shock Detection Level for Each Axis
(Setting range: 1 to 500)
Change the shock detection level specified in the changing the shock
detection level for the each axis.
If the shock detection level is not specified, the level will be the detection
level specified in the shock detection level condition number.
As for the manipulator with six axes, each axis indicates as follows.
• To adjust to the change in the grease viscosity at a cold
start, the offset value is automatically added to DETECT
LEVEL until the robot has operated for a certain period
of time.
Thus, at a cold start, the shock detection will be
performed only when the value is more than or equal to
the sum of DETECT LEVEL and the offset value.
The offset value varies depending on the manipulator type.
SHCKSET R1 SSL#(1) AXIS1=100 AXIS2=100 AXIS3=100 AXIS4=100
AXIS5=100 AXIS6=100 AXIS7=100 AXIS8=100
3
AXIS1 AXIS2 AXIS3 AXIS4 AXIS5 AXIS6
↓↓↓↓↓↓
S-axis L-axis U-axis R-axis B-axis T-axis
1
2
3
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