Shenzhen Elephant Robotics Technology Co., Ltd.
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robot before stopping will be different from the trajectory during normal
operation, which may trigger an accident such as a collision.
When the vehicle is in an emergency stop state (normal), if the robot system
is to be placed in an emergency stop state, press the emergency stop button
when the robot does not operate.
Before using the emergency stop switch, you need to know the following:
The emergency stop (E-STOP) can only be used to stop the robot in very
urgent situations.
The Catbot series collaborative robot has set up multiple emergency
stops. In addition to the power box emergency stop button and the
external emergency stop interface of the power supply box, an
emergency stop interface is also provided on the robot body, and an
emergency stop button box or a teach pendant can be connected
(optional, the teach pendant is provided with an emergency stop
button).
The emergency stop button can only be manually reset, and before
resetting, it is necessary to confirm that any other hazards that can be
controlled by the robot have been eliminated.
To stop the robot from running in a non-emergency situation, use the
Pause command or the Stop command. These two commands do not
turn off the motor. Therefore, the brake will not work.
If you need to control the emergency stop of the robot and other
equipment at the same time, you can use the external E-STOP double
loop circuit (you need to short the circuit when it is not in use). This is a
protective stop circuit that can be controlled manually or automatically.
1.8.2 Collision detection
During the operation of the robot, it is possible to come into contact with
people or objects. It can be protected by setting a protection threshold. The
specific mechanism of action is as follows: When the force generated by the
collision of the robot with the person or the object is greater than the threshold,
the robot detects the force generated by the collision, thereby stopping or moving
to a certain position (collision return).
Please note that when the protection threshold is set too high, a large force
is required to stop the robot, which will reduce the sensitivity of the collision
detection to a certain extent; When the protection threshold is set too low, the
robot may stop when it is holding the load due to the excessive torque generated
by its own motion. Therefore, please set the threshold of protection under the
guidance.
In addition to this, the user can set the protection threshold for each action
and each movement of the robot.
