6 Robot Settings
6.5 Shock Detection Setting
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HW1485509
HW1485509
6.5 Shock Detection Setting
The shock detection function is a function to decrease damage due to
collisions by stopping the manipulator without any external sensors when
the tool or the manipulator collides with a peripheral device.
When the shock is detected either in MANUAL (TEACH) mode or in
AUTOMATIC (PLAY) mode, the manipulator is stopped immediately.
6.5.1 Shock Detection Overview
Shock Detection Setting provides a mechanism to add extra protection to
the Manipulator and surrounding equipment in the case of accidental
collisions. This is done by measuring the torques encountered during an
application and then setting a “Max Allowable” torque within some buffer/
offset of the measured values. If the measured value ever goes over the
“Max Allowable”, an alarm will be triggered and the Robot will be stopped.
By factory default setting, Shock Detection will be turned on with a large
offset. However, these default settings can be changed based on the
application and multiple settings for a single application can even be
created. In all, there are nine total Shock Detection Settings:
• Default for AUTOMATIC (PLAY) Mode
• Default for MANUAL (TEACH) Mode
• Condition #1-7 - Additional User Configurable Settings for
AUTOMATIC (PLAY) Mode
The following sections will describe how to configure these settings and to
change them during operation.
6.5.2 Shock Detection Setting Interface
The main Shock Detection Setting Screen is shown in fig. 6-21 “Shock
Detection Setting Screen”. To access this page, select {MENU}, {Robot
Settings}, and then {Shock Detection Setting}.
The following actions can be taken from this page:
Shock Detection Status Switch
Use this to enable or disable the Shock Detection feature. This is a
global setting which will turn on/off Shock Detection for the YRC
Controller.
WARNING
• 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.
Failure to observe this instruction may cause contact with the
manipulator, which may result in personal injury and/or equipment
damage.
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