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From the Program tab:
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Tap the URCaps button in the navigation pane on the left
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Select Collision Detection
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Tap the Collision Detection node to edit it
You can either choose to halt (stop) or suspend (pause) the program when a collision is detected. The forces and torques
monitored in the collision detection node are the ones measured by the embedded e-Series sensor or theFT Sensor for CB-Series
robot. Thus, any forces or torques applied to the robot arm will not be detected. Only those applied to the end-of-arm tooling are
monitored.
The Collision Detection feature in the installation tab can be configured to start the monitoring upon every robot program start. On the
other hand, the Collision Detection node in the Program tab starts a thread that runs in parallel with the rest of the robot program. If the
Stop monitoring option is selected in the Collision Detection node, the thread stops and the program continues without monitoring the
force or the torque.
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