Professional Documents
Culture Documents
Operation Manual
Supplement
(This document is issued to customers prior to the revised edition of the advanced manual)
TAXE-A008-001
The content of this document will be printed in the fifth edition of the Introduction Volume
(Until Startup of Robot).
Caution
Accurate weight and gravity of tools are necessary for the High-Speed
Interference Function.
If accurate weight and gravity of tools are not set up, detecting performance is
lowered; an error in detecting state of interference or a detections mistake.
Please execute surely the setup procedure of tool constants specified in the
Section 4.5 Tool Constants, Chapter 4 Setup in the Operation Manual of Until
Startup of Robot.
.2 Setup
In this Chapter the setup at the time of robots startup is described for use of High-Speed Interference
Function.
Caution
The following operation shall be executed only to the tools for which the tool
constants have been set up. The setup is specified in the Section 4.5 Tool
Constants, Chapter 4 Setup in the Operation Manual of Until Startup of Robot.
If accurate weight and gravity of tools are not set up, detecting performance is
lowered; an error in detecting state of interference or a detections mistake. It is
dangerous.
Select tool of which constant has been set up and press f11<
Interference Setting>.
>>The following screen of interference setting is displayed.
Change the mode. Change from Low sensitive (at the time of
shipping) to Normal sensitive by the key of [Enable] + [Right/Left
Cursor].
Do not change the figures set in Teaching, Level 0 and Level 1.
The setting method is shown in the next Chapter.
Press f12 <Complete>.
>>The contents are stored and the screen returns to the one before last.
Table .2.1
Tool
Constant
Mode
Teaching
Level 0
Level 1
Low sensitive is used at such a time as line startup; when setup of tool
constants is not completed.
Normal sensitive is set up when accurate weight and gravity location of tools
have been set up. The detecting level which has been set to lower level than
low sensitivity is used.
Set up the detecting level [kgfm] in the teaching mode where Normal sensitive
is set up.
Set up the detecting level [kgfm] in the teaching mode where Normal sensitive
is set up.
Set up the detecting level [kgfm] in the teaching mode where Normal
sensitivity is set up. This level becomes effective if subtrahend of Fn 230
(Interference Detection Level Selection Function) is set to 0. For its details, see
the next section of collision detection level selection function.
Set up the percentage of the values displayed here (100 + margin value) as
the detecting level. For example, the J1 axis comes to 99.9 x 150% =149.85
if the margin value is 50%.
Types
Teaching
The detecting level for teaching shall be changed.
Level 0
The detecting level of only 0 shall be changed.
Level 1
The detecting level of only 1 shall be changed.
Total Playback The detecting level of 0 and 1 shall be changed.
Generally the selection of Total Playback does not raise a question.
Press f 12 <Complete>
>>The content is stored and returns to last screen.
The detecting level has been renewed.
Caution
Do not take your eyes off the robot for preparing for interference if the worst
comes, as the manipulation is disabled while the interference torque collection
screen is displayed.
Number
FN230
Japanese Name
Collision Detection Level Changeover
Function
Parameter
Data
No.1
Parameter
No. of Level
(0-3)
The detection level where all has been set to the level of 0 under playback is used as far as this
function is not used.
This function is executed under playback, and all detection levels for playback can be used in the
levels of 0 and 1.
If this function is executed, the specified detection level is used until the next execution of this function.
The detection level is automatically changed to 0 (Level 0) under playback of Step 0. But it is not
automatically changed to 0 (Level 0) when the program is called.
The level is not changed even if restart is made after discontinuation. But if the step is selected, the
level is automatically changed to 0. Be careful with its use when the level has been changed.
Press f 12 <Complete>.
10
11
12
13
The interference detection function can be used properly if the above series of works are finished.