Shenzhen Elephant Robotics Technology Co., Ltd.
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motion, the program running in Panda OS It will also be stopped.
However, during normal operation, do not press the emergency stop switch
at will. If the emergency stop switch is pressed during the operation, the robot
movement trajectory before stopping will be different from the trajectory during
normal operation and may hit a peripheral device or the like.
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
switch when the robot does not operate.
Before using the emergency stop switch, you need to know the followings:
The emergency stop (E-STOP) switch can only be used to stop the
robot in an emergency.
To stop the robot running the program in a non-emergency situation,
use the Pause or STOP command. The Pause and STOP commands
will not turn off the motor. Therefore, the brake will not work.
If user 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 (user need to short it when not in use).
1.7.2 Collision checking
During the operation of the robot, it is possible to touch people or objects.
It can be protected by setting a protection threshold. The specific operation
mode 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. Please set the threshold of protection under guidance.
In addition, you can set the protection threshold for each movement and
each movement of the robot, and set the two protection threshold directions
including the X-Y plane (horizontal direction) and the Z plane (vertical
direction).
1.8 Urgent handling
