YASKAWA DX200 - 8.7.3 High-Sensitivity Shock Detection Function (For Arc Welding Application Only)

8-94
182582-1CD
182582-1CD
8 System Setup
8.7 Shock Detection Function
MH900, DX200 Controller
8.7.3 High-Sensitivity Shock Detection Function (For Arc Welding
Application Only)
This function is designed to reduce the damage caused by a collision by
bringing the manipulator to an emergency stop when the tool or
manipulator collides with peripheral equipment. By increasing the
sensitivity to a collision, the damage caused by a collision can be reduced,
compared to the normal shock detection function.
To use this function, it is necessary to set the robot setup conditions and
the tool load information correctly.
The robot setup conditions include the weight and the center of gravity
position of the load installed at each part of robot, etc.
The tool load information includes the weight, the center of gravity
position, and the moment of inertia at the center of gravity, of the tool
installed at the flange.
8.7.3.1 Manipulator Type for High-Sensitivity Shock Detection Function
The following manipulator types for arc welding support the high-
sensitivity shock detection function. To enable this function, read the tool
load information prepared by Yaskawa on the MAKER INITIAL VALUE
window.
Types for high-sensitivity shock detection function
8.7.3.2 Setting for High-Sensitivity Shock Detection Function
To enable the high-sensitivity shock detection function, perform the
settings and as shown below. The function is enabled only with the
setting , but perform both and to make the shock detection
more accurate.
Reading the tool load information from the MAKER INI-
TIAL VALUE w in d ow
To enable the high-sensitivity shock detection function, read the tool
load information prepared by Yaskawa on the MAKER INITIAL VALUE
window. Since this function works on the assumption that the tool file is
correctly set, read the tool load which is the same as the actual load on
the MAKER INITIAL VALUE window. When the tool other than the tool
for high-sensitivity indicated in section 8.7.3.6 “Explanation of Maker Ini-
tial Value" on page 8-101 is used, DO NOT use this function.
Setting the U-arm payload
To perform shock detection more accurately, set the U-arm payload
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 safety measures such as safeguarding etc.
Refer to chapter 1 “Safety” at page 1-1 to chapter 6 “Testing Program
Operation” 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.
1 2
1 1 2
1
2
181 of 552