ABB IRB 14000, Руководство по эксплуатации

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3.5 Collision avoidance
Introduction
The IRB 14000 has a built in functionality called Collision Avoidance that is active
both during jogging and when running programs. Collision avoidance monitors the
geometrical models of the robot arms and the body, and the robot stops if any of
the parts get too close to each other.
Collision Avoidance is no guarantee for avoiding collisions. It monitors the
geometrical models of the robot arms and the body, but does not know the position
of external equipment near to the robot.
CAUTION
The user must always be careful to avoid collisions with external equipment,
since a collision could damage the mechanical structure of the arm.
System parameters
The default safety distance can be set by the system parameter Coll-Pred Safety
Distance .
For more information, see the system parameter Coll-Pred Safety Distance on
page 60 .
False collision warning
If the robot arms move close to each other or close to the base, and the collision
avoidance is too sensitive, a warning for collision may occur even if no collision
will happen.
There are three different ways to lower the collision sensitivity to avoid warnings:
• Temporarily disable collision avoidance. See Disabling collision avoidance
on page 39 .
• Decrease the safety distance for the pair of robot arm links that trigger the
false collision warning. See
Decrease sensitivity between links on page 40 .
• Decrease the general safety distance. See Coll-Pred Safety Distance on
page 60 .
Disabling collision avoidance
It is possible to disable the collision avoidance functionality. It may be necessary
to temporarily disable collision avoidance if the robot has already collided or is
within the default safety distance, or when the robot arms need to be very close
and the risk of collision is acceptable.
Set the digital output signal
Collision_Avoidance
to 0 to disable collision
detection. It is recommended to enable it (set
Collision_Avoidance
to 1) as
soon as the work is done that required collision avoidance to be disabled.
Continues on next page
Operating manual - IRB 14000 39
3HAC052986-001 Revision: E
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3 Using the IRB 14000
3.5 Collision avoidance