Okura Yusoki A Series, Оригинальное руководство пользователя

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4-6
4.4.
Collision Detection
In case of collision, overload has previously errored out to mainly prevent servo motor from
being burnout. Therefore, the robot doesn't stop immediately when collision occurs if the
servo motor reserves strength and there is a possibility that peripheral equipment, handling
products, etc. are damaged a lot.
The collision detection is a function to reduce the damage to station, robot hand, etc. When
hand or arm of robot collides with such peripherals as stations, pallets, handling products, etc,
the robot is stopped detecting collision with sensorless way.
IMPORTANT
The function doesn't work during the manual operation, even when
this function is turned on.
It cannot eliminate the damage by the collision to peripherals at all
even when the collision detection function is turned on.
This function doesn't guarantee safety to the person. Please work
in compliance with all the provided standards.
4.4.1. False detection and the preventative measures
The sensitivity of the detection is decided depending on the servo parameter, when the
collision detection function is turned on. The servo parameter is set at the system storage
mode.
The larger the value of the servo parameter set is, the larger the threshold is. So, the
detection falls down to less sensitive (It becomes more difficult to properly detect).
On the contrary, the smaller the value of the servo parameter is, the smaller the threshold is.
So, the detection goes up to more sensitive and the collision is much more accurately
detected. But higher sensitivity tends to allow the function to more often make false
detection. It can be seen in such that the robot may falsely collide despite usual operation.
In addition, the maximum value of the data by which collision detection is judged is recorded
at the screen display “collision detection”. It is judged that the robot collides when this
maximum value exceeds the threshold, and the robot stops.
The maximum value might change by addition of new products or new patterns. Moreover, it
is likely to change depending on an external factor like the temperature or the lubrication
condition of the grease etc, even if they are the same products, patterns and/or programs.
There is a possibility still remained that the change above mentioned may cause false
detection.
If false detection occurs frequently, it is necessary to fix the value of the servo parameter
again, because the root causes mentioned above can be possible. In that case, please
contact with the customer support desk of service department.