System Setup
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9.7 Shock detection function
The shock detection function is a function to decrease damage due to the collision by
stopping the robot without any external sensor when the tool or the robot collide with
peripheral device.
When the shock is detected either in teach mode or in play mode, the robot is stopped
immediately.
WARNING!
Personal injury or equipment damage caused by collision with the robot
The shock detection function does not completely prevent damage to the peripheral
devices or guarantee human safety..
Make sure to take safety measures such as installing safety fences. For details on
safety measures, refer to chapter 2 "Safety" and chapter 7 "Test of program operation"
for the safety measures in details.
9.7.1 Shock detection function setting
At the factory default setting, the threshold value is set to detect a collision without a miss
even when the robot is operating at the maximum speed, on the assumption that the tool
file is correctly set. To detect a collision during normal operation, check the following points:
• The tool’s load and moment do not exceed the rated values.
• The actual tool load and the tool file setting value are the same.
• The U-arm payload information and the set weight of U-arm payload in the ARM
CONTROL window are the same.
In addition, detection sensitivity can be decreased for only a specific section where a
contact task is performed.
The detection sensitivity 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 numbers 1 to 7 are used when the detection level is changed in a specific
section in PLAY mode.
• Condition number 8 is used as standard in play mode: this function is operated by the
detection level set in this file during playback operation.
• Condition number 9 is for teach mode: the shock detection function applies the
detection level set here when the robot is operated in TEACH mode.
• Condition numbers 1 to 8 are set for each axis, and condition 9 is set for each group.
The detection level is changed by a job instruction SHCKSET.
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