ABB IRB 14000, Руководство по эксплуатации

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Decrease sensitivity between links
The sensitivity of collision avoidance can be decreased between individual robot
arm links. This is useful if two links come close to each other, but the general safety
distance should be maintained.
Open the file irb_14000_common_config.xml located in the folder
<SystemName>\PRODUCT\ROBOTWARE_6.XX.XXXX\robots\irb_14000 .
To decrease the safety distance between the left arm's link 3 and the right arm's
link 4 to 1 mm, add the following row:
<Pair object1="ROB_L_Link3" object2="ROB_R_Link4"
safetyDistance="0.001"/>
To decrease the safety distance between the left arm's link 5 and the robot base
to 2 mm, add the following row:
<Pair object1="ROB_L_Link5" object2="Base" safetyDistance="0.002"/>
To disable collision avoidance between the left arm's link 2 and the right arm's link
3, add the following row:
<Pair object1="ROB_L_Link2" object2="ROB_R_Link3" exclude="true"/>
Note
The safety distance between two links can be decreased by adding a row to this
XML file, but it cannot be increased to a higher value than defined by the system
parameter
Coll-Pred Safety Distance .
40 Operating manual - IRB 14000
3HAC052986-001 Revision: E
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3 Using the IRB 14000
3.5 Collision avoidance
Continued