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ID : 5821
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, and sets ten types of settings by each table number.
- For the collision detection setting, select "0" (disable) or "1" (enable).
- The range of detection level is from 0.0 to 100.0% of rating. You may set one decimal place as the smallest value.
- For the error output setting, select "0" (not output) or "1" (output).
Setting with the Teach Pendant
To set this parameter with a teach pendant, press [F2 Arm] - [F2 Collision Detection]. To switch the manual-mode and auto-mode, select each tab.
For details about operation, refer to "Procedure to Set Collision Detection Function" of FUNCTION GUIDE.
Parameter List
| No. | Item Name | Unit | Default | Description |
|---|---|---|---|---|
| 150 to 157 | Collision detection setting in manual operation (J1 to J8) | - | 0 | This setting is for the manual mode. Enable/Disable the collision detection for each axis (J1 to J8). |
| 158 to 165 | Collision detection level in manual operation (J1 to J8) | % | 0 | This setting is for the manual mode. Set the detection level for axis where the Collision detection is enabled. |
| 167 | Collision detection error mode 1 | - | 0 | This setting is for the table number 1 in the auto mode. Specify whether to output an error at the collision detection. |
| 168 to 175 | Collision detection setting 1 (J1 to J8) | - | 0 | This setting is for the table number 1 in the auto mode. Enable/Disable the collision detection for each axis (J1 to J8). |
| 176 to 183 | Collision detection level 1 (J1 to J8) | % | 0 | This setting is for the table number 1 in the auto mode. Set the detection level for axis where the Collision detection is enabled. |
| 185 | Collision detection error mode 2 | - | 0 | This setting is for the table number 2 in the auto mode. Contents of each item are same as that of the table number 1. |
| 186 to 193 | Collision detection setting 2 (J1 to J8) | - | 0 | |
| 194 to 201 | Collision detection level 2 (J1 to J8) | % | 0 | |
| 203 | Collision detection error mode 3 | - | 0 | This setting is for the table number 3 in the auto mode. Contents of each item are same as that of the table number 1. |
| 204 to 211 | Collision detection setting 3 (J1 to J8) | - | 0 | |
| 212 to 219 | Collision detection level 3 (J1 to J8) | % | 0 | |
| 221 | Collision detection error mode 4 | - | 0 | This setting is for the table number 4 in the auto mode. Contents of each item are same as that of the table number 1. |
| 222 to 229 | Collision detection setting 4 (J1 to J8) | - | 0 | |
| 230 to 237 | Collision detection level 4 (J1 to J8) | % | 0 | |
| 239 | Collision detection error mode 5 | - | 0 | This setting is for the table number 5 in the auto mode. Contents of each item are same as that of the table number 1. |
| 240 to 247 | Collision detection setting 5 (J1 to J8) | - | 0 | |
| 248 to 255 | Collision detection level 5 (J1 to J8) | % | 0 | |
| 257 | Collision detection error mode 6 | - | 0 | This setting is for the table number 6 in the auto mode. Contents of each item are same as that of the table number 1. |
| 258 to 265 | Collision detection setting 6 (J1 to J8) | - | 0 | |
| 266 to 273 | Collision detection level 6 (J1 to J8) | % | 0 | |
| 275 | Collision detection error mode 7 | - | 0 | This setting is for the table number 7 in the auto mode. Contents of each item are same as that of the table number 1. |
| 276 to 283 | Collision detection setting 7 (J1 to J8) | - | 0 | |
| 284 to 291 | Collision detection level 7 (J1 to J8) | % | 0 | |
| 293 | Collision detection error mode 8 | - | 0 | This setting is for the table number 8 in the auto mode. Contents of each item are same as that of the table number 1. |
| 294 to 301 | Collision detection setting 8 (J1 to J8) | - | 0 | |
| 302 to 309 | Collision detection level 8 (J1 to J8) | % | 0 | |
| 311 | Collision detection error mode 9 | - | 0 | This setting is for the table number 9 in the auto mode. Contents of each item are same as that of the table number 1. |
| 312 to 319 | Collision detection setting 9 (J1 to J8) | - | 0 | |
| 320 to 327 | Collision detection level 9 (J1 to J8) | % | 0 | |
| 329 | Collision detection error mode 10 | - | 0 | This setting is for the table number 10 in the auto mode. Contents of each item are same as that of the table number 1. |
| 330 to 337 | Collision detection setting 10 (J1 to J8) | - | 0 | |
| 338 to 345 | Collision detection level 10 (J1 to J8) | % | 0 |
ID : 5821