9.12 Shock Detection Function
9-72
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 / Station Setting
The robot or the station axis which is desired to change the shock detection level is speci-
fied. If nothing is specified, the shock detection level of the control group of the job to which
this instruction is registered is changed.
However, if the job is coordinated job, the shock detection level of the slave axis group is
changed.
Shock Detection Level File (1 to 7)
The shock detection level file number is specified here. The shock detection level value
when playback operation is set in the file. The shock detection level is changed by the con-
dition of the file set here.
SHCKRST instruction
The shock detection level changed by the SHCKSET instruction is reset and returned to the
detection level of the standard (value set in condition number 8) by the SHCKRST instruction.
The additional item of the SHCKRST instruction is as follows.
Robot / Station Setting
The robot or the station axis which is desired to reset the shock detection level is specified
here. If nothing is specified, the shock detection level of the control group of the job to
which this instruction is registered is changed.
However, if the job is coordinated job, the shock detection level of the slave axis group is
changed.
SHCKSET R1 SSL#(1)
SHCKRST R1
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