3.12 Shock Detection Function
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3.12
Shock Detection Function
3.12.1
Shock Detection Function
The shock detection function is a function to decrease damage because of the collision by
instantaneously detecting the shock and stopping the manipulator without any external sensor
when the tool or the manipulator collide with peripherals.
When the shock is detected either in teach mode and in play mode, the manipulator is
stopped instantaneously.
3.12.2
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 file.
The shock detection 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 a file used as standard in play mode. This function is operated by the
detection level set in this file when playback operation.
Condition number 9 is a file for teach mode. The shock is detected by the detection level set in
this file when the robot is operated in teach mode.
This function cannot do away with the damage to peripherals completely. Moreover, this
function does not guarantee safety to the person. Prepare the safety measures such as
the safety fence etc. Refer to "MOTOMAN Setup Manual" for the safety measures in
detail.
Injury or damage to machinery may result by collision with the manipulator.
This function is equipped with the undermentioned model.
Applicable models: Motoman UP6, SK16X, UP20, SK45X, UP50, UP130
W A R N I N G
N OT E
Summary of Contents for PX2750
Page 2: ......
Page 4: ...PX2850 PX2750 Manipulator Manual ii MOTOMAN NOTES...
Page 20: ...viii...
Page 24: ...xii...
Page 40: ...1 7 Notes on MOTOMAN Disposal 1 16...
Page 58: ...4 3 Connection Methods 4 12...
Page 66: ...6 1 Movement of the Axes 6 4...
Page 72: ...8 2...
Page 73: ......
Page 99: ......
Page 100: ......
Page 282: ...2 8 General I O Signal Assignment 2 72...
Page 318: ...4 4 Recommended Spare Parts 4 30...
Page 333: ...xiv...
Page 334: ...Setup Diagnosis...
Page 335: ......
Page 337: ...1 2...
Page 345: ...2 1 Protection Through Security Mode Settings 2 8...
Page 443: ...3 17 File Initialize 3 98...
Page 465: ...4 2 Addition of Base and Station Axis 4 22...
Page 483: ...5 6 Position Data When Power is Turned ON OFF 5 18...
Page 484: ...Hardware...
Page 485: ......
Page 495: ...6 4 Equipment Configuration 6 10...
Page 497: ...7 2...
Page 505: ...8 8 Open Phase Check 8 8...
Page 525: ...9 4 Recommended Spare Parts 9 20...
Page 526: ...Alarm Error...
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