3.12 Shock Detection Function
3-74
3.12.3
Alarm List
Alarm
Number
Message Cause Remedy
4315 COLLISION DETECT
Robot/Station
[Axis Data]
• A collision from interference
between robot and peripheral
device etc. was detected.
• The collision was mis-detected
by the normal movement of the
robot, because the detection
level was small.
• Remove the object after
resetting the alarm or move
the robot to the safety posi-
tion.
• When the alarm cannot be
reset because the robot
comes in contact with the
object, invalidate this func-
tion in the collision detec-
tion level set file or enlarge
the detection level and
move the robot to the
safety position.
• Enlarge the detection level
so as not to mis-detect the
collision detection by the
normal movement of the
robot. Moreover, set accu-
rate information of the
weight of the tool.
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