1.1. Introduction

1.1. Introduction

 

The collision detection function is used to stop the robot by immediately detecting collision when it collides with another robot or workpiece.

 

It is a safety device for cases of a robot operating under abnormal conditions. It helps enhance the safety of a robot by operating in a mutually supplementary manner with the other existing functions such as overcurrent, overload, overspeed, and position-deviation error detection functions.

 

The collision detection function monitors the “disturb. torque” and “disturb. torque rate” that occur to individual axes of a robot. If the values exceed the preset values, the function will handle the situation and error as shown below.

 

n When the measured 『disturb. torque』 value exceeds the set value: “E0160 ?axis collision detection”

n When the measured 『disturb. Torque rate』 value exceeds the set value: “E0161 ?axis impact detection”

 

However, the collision detection function is only applicable to the robot’s main body, not for additional axes. It is impossible to set the function as “Enable” in the case of a robot that cannot use the function.