YASKAWA Motoman MLX200 - Measuring Collision Detection from Application

5-11
168542-1CD
168542-1CD
MLX200 Software and
Operations
5 Collision Detection
5.3 Using the MLxRobotCollisionDetection Instruction
5.3.2 Measuring Collision Detection from Application
To collect Measured Torque Disturbance Data, the
MLxRobotCollisionDetection instruction can be executed with Action = 0.
After executing this instruction, the application cycle can be executed and
a number of cycles run. When done, call MLxRobotCollisionDetection with
Action=2 (Stop Collision Detection) which will also automatically update
the Measured Torque Disturbance Data inside the ApplicationData
structure. Fig. 5-11 shows a simple example of this.
Fig. 5-11: Measuring Torque Disturbance Data from Application
CAUTION
• To get accurate data during Measurement Mode, the tool load must be
entered and activated from either the Tool Properties HMI screen or
the MLxRobotSetToolProperties instruction.
• Tool Load must not exceed rated values for the robot.
NOTE
If the speeds or accelerations of the application are
changed after configuring Collision Detection, the
configuration may not be reliable. It is recommended to
re-configure Collision Detection if changes to motion
profiles are made.
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