ID : 7329

Displaying and Setting the Collision detection setting

Operation path : [F2 Arm] - [F6 Aux] - [F2 Collision/Interference] - [F1 Collision Detection]

This window allows you to enable/disable the collision detection function, set the detection level for each axis. It also sets the occurrence/non-occurrence of error when a collision is detected.

Pressing [F1 Collision Detection] will display the following [Collision detection setting] window.

For details of operation, refer to the "Procedure to Set" of Function Guide.

Available function keys
[F5 Edit]	Selecting an item first, and pressing this button allows you to change the setting. Entered value is confirmed by pressing [OK] on the [Collision detection setting] window.
	Enable	Enables/disables the collision detection function for each axis. Pressing [Edit] will display a message to confirm the change. Pressing [OK] will confirm the setting. For details, refer to "Enable/Disable Setting" of Collision detection setting of Function Guide.
	DetectLv[%]	Sets the detection level for each axis. Pressing [Edit] will display a numeric keypad. Enter a value with the numeric keypad, and press [OK] on the numeric keypad. For details, refer to "Setting of Detection Level" of Collision detection setting of Function Guide.
	Err occur	Specifies whether to issue an error when a collision is detected. Pressing [Edit] will display a dialog window for setting change. Selecting "Yes" or "No" first, and pressing [OK] will confirm the change. For details, refer to "Setting of Occurrence of Errors During Collision Detection" of Collision detection setting of Function Guide.
	After Detection	Specifies whether to stop the robot on the motion path or stop the robot after it is set to the axis free status after a collision is detected. Pressing [Edit] will display a dialog window for setting change. Selecting "Stop" or "Free" first, and pressing [OK] will confirm the change. For details, refer to "Setting of Axis Free at Collision Detection" of Collision detection setting of Function Guide.
[F6 Change all joints]	When the system message is displayed, select [ON] or [OFF] in the [Col Detect] and press [OK]. [ON]: Function is enabled for all axes. [OFF]: Function is disabled for all axes.

ID : 7329

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