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ID : 3729
Collision
Collision-detection-related parameters.
This parameter enables/disables the collision detection for both in the manual mode and the auto mode on each axis (J1 to J8), sets the detection level when the collision detection is enabled.
COBOTTA uses table number 1. Table numbers 2 through 10 cannot be used.
- For the collision detection setting, select "0" (disable) or "1" (enable).
- The range of detection level is from 0 to 1000% of rating.
- For the error output setting, select "0" (output) or "1" (not output).
Setting with the Remote TP/Virtual TP
To set this parameter with the Remote TP/Virtual TP, press [F2 Arm] - [F2 Collision Detection].
For details about operation, refer to "Collision Detection Function" of FUNCTION GUIDE.
Parameter List
| No. | Item Name | Unit | Default | Description |
|---|---|---|---|---|
| 167 | Collision detection error mode 1 | - | 0 | Specify whether to output an error at the collision detection. |
| 168 | Collision detection setting 1 (J1) | - | 1 | Enable/Disable the collision detection for each axis (J1 to J8). |
| 169 | Collision detection setting 1 (J2) | - | 1 | |
| 170 | Collision detection setting 1 (J3) | - | 1 | |
| 171 | Collision detection setting 1 (J4) | - | 1 | |
| 172 | Collision detection setting 1 (J5) | - | 1 | |
| 173 | Collision detection setting 1 (J6) | - | 1 | |
| 174 | Collision detection setting 1 (J7) | - | 0 | |
| 175 | Collision detection setting 1 (J8) | - | 0 | |
| 176 | Collision detection level 1 (J1) | % | 100 | Set the detection level for axis where the Collision detection is enabled. |
| 177 | Collision detection level 1 (J2) | % | 100 | |
| 178 | Collision detection level 1 (J3) | % | 100 | |
| 179 | Collision detection level 1 (J4) | % | 100 | |
| 180 | Collision detection level 1 (J5) | % | 100 | |
| 181 | Collision detection level 1 (J6) | % | 100 | |
| 182 | Collision detection level 1 (J7) | % | 0 | |
| 183 | Collision detection level 1 (J8) | % | 0 | |
| 382 | Axisfree mode setting | - | 0 | When it is enabled, the robot will stop after it is set to the axis free status after collision detection. The initial value is set to "Disable" that stops the robot on the motion path at collision detection.
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ID : 3729