6 Robot Settings
6.5 Shock Detection Setting
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HW1485509
HW1485509
Fig. 6-21: Shock Detection Setting Screen
The general procedure for configuring a Shock Detection Setting are:
1. Run application and observe the Measured Max Torque for several
hours.
– After this point, the Measure Max Torque values should not change
much.
2. Press {COPY MEASURED TO ALLOWABLE WITH OFFSET} with a
small Offset value depending on desired sensitivity (lower Offsets will
be more sensitive). A recommended starting point is an Offset
between 10-20.
If a collision is detected during execution, the YRC Controller will report
Alarm 4315, shown in fig. 6-22 “Collision Detection Alarm”.
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