8.7 Shock Detection Function
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8.7 Shock Detection Function
8.7.1 Shock Detection Function
The shock detection function is a function to decrease damage due to the collision by stopping
the manipulator without any external sensor when the tool or the manipulator collide with
peripheral device.
When the shock is detected either in teach mode or in play mode, the manipulator is stopped
immediately.
8.7.2 Shock Detection Function Setting
The shock detection function is set not to mis-detect the shock even if operating by the ratings
load with the maximum speed when shipping from the factory. If tool load information is set
correctly, the detection sensitivity can be improved. Moreover, it is possible to set the lower
sensitivity of detection only for a specific section where the contact work etc. The sensitivity of
detection 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 number 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 detec-
tion level set in this file when playback operation.
Condition number 9 is for teach mode: the shock detection function applies the detection level
set here when the manipulator is operated in teach mode.
The detection level is changed by a job instruction SHCKSET. After the instruction is exe-
cuted, the shock will be detected by the specified detection level when the condition number is
specified with the SHCKSET instruction. The detection level is returned to standard level
when the SHCKRST instruction is executed.
• This function does not completely avoid damage to the peripheral
devices; moreover, it does not guarantee the user’s safety.
Make sure to prepare the safety measures such as the safeguarding etc.
Refer to "1 Safety" for the safety measures in details.
Failure to observe this warning may result in Injury or damage to machinery caused by
contact with the manipulator.
WARNING
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