System Setup
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4. Level setting for the condition number 9.
The level setting for the condition number 9 is for the teach mode.
This setting is made for each group. the max. disturbance force to set the DETECT
LEVEL.
NOTICE
Perform all the JOBs to use for 5 to 6 hours.
For the material handling application, if a work JOB is performed both with holding a
workpiece and without holding a workpiece, measure both patterns.
In the event of a collision while measuring the max. disturbance force, clear the max.
disturbance force by selecting {DATA}, then {CLEAR MAX VALUE}. Then try again.
The max. disturbance force is cleared when the power is turned ON/OFF. Therefore,
DO NOT set the level based on the max. disturbance force immediately after turning
ON/OFF the power.
When the teaching point, operation speed, operation position, etc. of a JOB are greatly
changed due to teaching modification, etc., measure the max. disturbance force and set
the DETECT LEVEL again.
When the load of tool or workpiece is greatly modified, measure the max. disturbance
force and set the DETECT LEVEL again.
NOTICE
To avoid false detection during robot operation, set the following calculated value A or B,
whichever is larger, to the DETECT LEVEL. An emergency stop of the robot due to the false
detection may become a factor to damage the speed reducers and tools.
A: (Max. disturbance force) x (coefficient = 120%)
B: (Max. disturbance force) + 15
<Example>
When the max. disturbance force is 80, set the DETECT LEVEL to 96 or more.
When the max. disturbance force is 10, set the DETECT LEVEL to 25 or more..
To adjust to the change in the grease viscosity at a cold start, the offset value is
automatically added to DETECT LEVEL until the robot has operated for a certain period of
time.
Thus, at a cold start, the shock detection will be performed only when the value is more than
or equal to the sum of DETECT LEVEL and the offset value.
The offset value varies depending on the robot type
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