System Setup
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The shock detection alarm in TEACH mode and PLAY mode can be reset by the following
operation.
1. Press [SELECT].
– The alarm is reset when “RESET” is selected on the alarm display, and the shock
detection status is released.
2. Operation after resetting the detection status.
– In TEACH mode, the JOG operation of the robot is enabled by resetting the status.
– In the PLAY mode, move the robot once to the safety position in the TEACH mode to
check the damage though the playback operation is possible after resetting the status.
NOTICE
When robot is stopped instantaneously while having contact with the object and the
detection alarm is tried to reset on the alarm window, the situation in which the alarm
cannot be reset may occur since the collision may be detected again after resetting.
In this case, set the shock detection function “INVALID”, or increase the detection level
in teach mode and retreat the manipulator to a safety position.
9.7.2 High-sensitivity shock detection function (for Arc Welding
application only)
This function limits the damage caused by collisions by carrying out an emergency stop for
the robot when the tool or robot comes up against a peripheral device. If the collision
sensitivity is increased, the damage caused by a collision is reduced compared to normal
collision detection.
In order to be able to use this function, the robot setup conditions and tool load data have
to be set correctly.
The robot setup conditions comprise the weight and centre of gravity of the load installed
on each robot part etc.
The tool load data is the weight, the centre of gravity and the moment of inertia at the centre
of gravity of the tool installed on the flange.
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