AX Controller

Operation Manual

Supplement

(This document is issued to customers prior to the revised edition of the advanced manual)

High-speed collision detection

function (Revised)
If the High-Speed Collision Detection Function (Servo shock sensor) is
used, anomaly can be detected before tools are damaged, when
operational error or unexpected or unforeseen interference occurs during
playback operation.
The system version of AXV5.09, to which a device to heighten
sensitivity has been added, becomes convenient.
.1 Outline of high-speed collision detection function ...................................1
.1.1 Please read at the beginning ................................................................1
.1.2 Contents of this document .....................................................................1
.2 Setup ..............................................................................................................2
.2.1 Setup at robots startup ..........................................................................2
.2.2 Setup of optimum detecting level corresponding to work program .4
.2.3 Change of detecting level by function ..................................................6
.3 Upgrading from the former version ............................................................7

TAXE-A008-001

The content of this document will be printed in the fifth edition of the Introduction Volume
(Until Startup of Robot).

High-speed collision detection function (Revised)

.1 Outline of high-speed collision detection function

.1.1 Please read at the beginning
The object of High-Speed Collision Detection Function shall be protection of tools by detection and
suspension of a conflict of work tools and outside circumstance. As anomaly can be detected before tools
are damaged, when operational error or unexpected or unforeseen interference occurs during teaching
operation, a lot of labor such as tools change can be saved.
The High-Speed Collision Detection Function estimates the contact force with the external circumstance
by location, speed and electric current of the robots motor. And if the contact force exceeds the set-up
detecting level, it is assumed as the direct contact with the external circumstance and the High-Speed
Interference Function enables the robot to stop.

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.

.1.2 Contents of this document

First, necessary preparation work before robots startup is explained. In this regard accurate weight and
gravity are necessary. This is setting work to be executed after setting work of tools constants.
Next, a method of increasing sensitivity for efficient use of this Function is explained.

High-speed collision detection function (Revised)

.2 Setup
In this Chapter the setup at the time of robots startup is described for use of High-Speed Interference
Function.

.2.1 Setup at robots startup

At the time of shipping at the factory, interference detection has been pre-set to Low Sensitivity. The
detection level in this Low Sensitivity is loosely set in order to avoid detections mistake if tool constants
are not suitably set up. Please change the tool, where tool constants have been set up, to Normal
Sensitivity under the following steps. The tool constants have been set up and highly probable
interference detection function can be realized with change to Normal Sensitivity.

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.

Execute the initial setup with reference to the Operation Manual of

Until Startup of Robot. And especially execute surely the setup of
tool constants specified in the foregoing Section 4.5.

Input R314 and select the operators level of Expert.

Select [Constants] and press the buttons [3 Machine Constants] [1

Tool Constants].
>>The following screen of Tool Constants Input is displayed.

High-speed collision detection function (Revised)

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

Parameters for interference setting

Explanation

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.

Detecting level (18 numerical groups)

The detecting level is automatically set up through working in 2.2 Setup of optimum detecting level
corresponding to work program. An operator shall not input by hand.
If the detecting level is set to 0, the interference detection is disabled to the objective axis in the
detecting level.
If the value becomes large, a detecting error seldom occurs due to lower detecting level. If it becomes
small, a detecting error easily occurs due to higher detecting level and damage by interference can be
minimized, as state of collision is sensitively detected.

High-speed collision detection function (Revised)

.2.2 Setup of optimum detecting level corresponding to work program

This section describes a method of setting automatically optimum detecting level corresponding to
work program.
The detection level 0 or 1 has been set to rather lower sensitivity at the factory before the shipment so
that a detection error can be avoided at the highest speed under the maximum load. Through this work
the detection level with the optimum sensitivity can be easily set up.

Execute the initial setup with reference to the Operation Manual of To

Startup of Robot. And especially execute surely the setup of tool
constants specified in the foregoing Section 4.5.
Input R314 and select the operators level of Expert.
Select [Service] and [26 Torque sampling for Interference Det.]

Press f 08 <Start Tracing>

Playback several times program to be measured after starting trace.

>>The following screen is displayed during activation.

The present interference power calculated of each axis is displayed in bar

graphs.The maximum value presently under measurement is displayed in
green lines.

High-speed collision detection function (Revised)

Press f 08<Finish Tracing > at the end of collection.

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.

.2.3 Change of detecting level by function

Detecting values considered to be interference can be changed under playback.
For example, this can be used for entrance of robots tip into narrow spaces, close observation of
interference, raising detectable sensitivity by controlling lower detection level, robot contacting works
and protection of a detections error by lowering interference detection.
For the changeover, Collision Detecting Level Selection Function is used. The details are as follow;
Mnemonic
COLSEL

Number
FN230

Japanese Name
Collision Detection Level Changeover
Function

Parameter
Data

Contents and Range to be set

High-speed collision detection function (Revised)

No.1
Parameter

No. of Level
(0-3)

Specify No. of detection level.

0: This is normal state of use. The
detection level of 0 is used. (Default)
1: Change to the state of use with high
sensitivity is done. The detection level
of 1 is used.
2: This is specified when low sensitivity is
required. The low detection level having
preset at the factory before shipping is
used.

3: This is specified when detection is

required to be off. This can be set up
only by operators with Expert above.

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.

High-speed collision detection function (Revised)

.3 Upgrading from the former version

The system version by which the High-Speed Interference Function can be used is AXV5.09 on and
after.
When the High-Speed Interference Function is newly used with constants formatted by the system
version AXV5.09 on and before, please set in the way specified in this document.

Change to the system version of AXV5.09 on and after, and provide

power.

Input R134 and select the operator level Integrator.

Change from 0 to 1 of Software shock sensor method specified on

page 13 in 15 Manipulator selected from Constant Setting and 3
Machine Constants.

Press f 12 <Complete>.

Select machine constants 16 Interference Detection.

Interference detection Effective

Friction
85 50 50 70 30 30
Low sensitivity
600 1000 1000 600 600 600
The setup is as above.

High-speed collision detection function (Revised)

Press f 12<Complete> and write constants into the file.

Select machine constants 1 Tool Constants.

Select tool number and select f 11 <Interference Setting> in the screen.

10

Set up constants as following;

Mode
Low Sensitivity
Teaching 150 150 150 100 100 100
Level 0
500 900 600 300 300 300
Level 1
250 500 300 200 200 200

11

Press f 12<Complete> and write constants into the file.

12

Apply setting of tool constants to all of tools to be used.

That concludes the initial setting.

13

Switch off power once and restart.

It is recommended to confirm that constants have been written in by a
proper respective key after restarting.

The interference detection function can be used properly if the above series of works are finished.