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10.5.1.10. Collision

10.5.1.10. Collision​

 

Users can set the collision detection level while the TCP-based collision detection function is set as enable. The menu for setting the collision detection function as Enable/Disable and the collision detection value based on sensitivity can be entered by selecting 『[F2]: System』 → 『3: Robot parameter』 → 『8: Collision detection (TCP) setting』(This menu will be displayed only when a robot supports the collision detection menu.

 

When the collision detection function is set as “Enable”, detection will occur based on the default sensitivity set in the menu window if there is no collision command. In auto mode, detection will occur based on the sensitivity set in “sensitivity (auto mode)”, and in jog mode, detection will occur based on the sensitivity set in “sensitivity (jog mode)”. If there is a collision command, detection will occur based on the relevant sensitivity until the next collision command is received. As the sensitivity gets closer to 0, collision detection will occur with higher sensitivity.

 

Explanation

Sets the collision detection level

Syntax

Collision <Sensitivity>

Parameter

Level

0~100

Example

When the collision detection (TCP) function is set as enable and the work program is as shown below.

             S1 MOOE

             S2 MOVE

               Collision 30

             S3 MOVE

               Collision 10

             S4 MOVE

             S5 MOVE

                END

In Step 1 and Step 2, detection will occur based on the sensitivity of 100. In Step 3, detection will occur based on the sensitivity of 30 and from Step 4, detection will occur based on the sensitivity of 10.

Remark

 

 

 

 

 

l If the sensitivity is set too low, errors in detection will occur.