9.12 Shock Detection Function
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9.12 Shock Detection Function
9.12.1 Shock Detection Function
The shock detection function is a function to decrease damage because of the collision by
instantaneously detecting the shock and stopping the manipulator without any external sensor
when the tool or the manipulator collide with peripheral device.
When the shock is detected either in teach mode and in play mode, the manipulator is
stopped instantaneously.
9.12.2 Shock Detection Function Setting
The shock detection function is set not to mis-detect the shock even if operating by the ratings
load with the maximum speed when shipping from the factory. If tool load information is set
correctly, the detection sensitivity can be improved. Moreover, it is possible to set the lower
sensitivity of detection only for a specific section where the contact work etc. The sensitivity of
detection is set by setting the detection level.
Shock Detection Level Setting
The shock detection level is set in the shock detection level set file.
The shock detection level set file are nine condition files as following figure.
Condition number 1 to 7 are used when the detection level is changed in a specific section in
play mode.
Condition number 8 is a file used as standard in play mode. This function is operated by the
detection level set in this file when playback operation.
Condition number 9 is a file for teach mode. The shock is detected by the detection level set in
this file when the manipulator is operated in teach mode.
The detection level is changed by the SHCKSET instruction. After this instruction is executed,
the shock will be detected by the detection level of the specified file when the condition num-
ber is specified at SHCKSET instruction. The detection level is returned to standard level
when the SHCKRST instruction is executed.
• This function cannot do away with the damage to peripheral device
completely. Moreover, this function does not guarantee safety to the
person. Prepare the safety measures such as the safeguarding etc.
Refer to "1 Safety" for the safety measures in detail.
Injury or damage to machinery may result by contact with the manipulator.
WARNING
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