YASKAWA MOTOMAN YRC1000 - Page 148

System Setup
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NOTICE
DETECT LEVEL can be modified only when the SECURITY mode is set in the
MANAGEMENT mode
 Tool load information setting
To increase the accuracy of shock detection, set the tool load information in the tool file
(Refer to chapter 9.3.4 "Setting the tool load information" on 95).
 U arm payload setting
To perform shock detection more accurately, set the U-arm payload (Refer to chapter 9.4.1
"ARM control window" on 110).
 Instruction of shock detection function
• SHCKSET instruction
The SHCKSET instruction changes the collision detection threshold on the basis of the
value entered for the collision detection threshold during playback.
The additional items of the SHCKSET instruction are as follows.
Robot settings
Specifies the manipulator of which shock detection level is to be modified. If nothing is
specified, the modification is applied to the shock detection level of the JOB control group
in this instruction. However, in case of coordinated JOB, the modification is applied to the
shock detection level of the slave axis group.
Shock detection level condition number (1 to 7)
Specifies the shock detection level condition number in which the detection level in
playback mode is set.
Changing the shock detection level for each axis (Setting range: 1 to 500)
Change the shock detection level specified in the changing the shock detection level for the
each axis. If the shock detection level is not specified, the level will be the detection level
specified in the shock detection level condition number.
As for the robot with 6 axes, each axis indicates as follows.
If the non-existing axis in the system was specified to change the shock detection level for
each axis, the its specified shock detection level is invalid.
• 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 settings
AXIS1

S-axis
AXIS2

L-axis
AXIS3

U-axis
AXIS4

R-axis
AXIS5

B-axis
AXIS6

T-axis
AXIS1=100 AXIS2=100 AXIS3=100 AXIS4=100
AXIS5=100 AXIS6=100 AXIS7=100 AXIS8=100
R1 SSL#(1)SHCKSET
1
2
1
SHCKRST
R1
1