Settings
EFORT INTELLIGENT EQUIPMENT CO.,LTD
134
(1) Maximum sensitivity: set the maximum collisio
n parameter;
(2) Sensitivity: set the sensitivity of the current ma
nual and automatic program collision detection
3
Collision detection swi
tch
Turn on / off the collision detection function in th
e two use scenarios of running the program and m
anual teaching.
When running the RPL program, the collision detection sensitivity of each
joint, that is, the ratio of the torque value to the factory set torque peak value is:
S(RPL) =
“Program runtime sensitivity” × “Set parameters in module function” × Base
collision value
Notes!
The details of “Set parameters in module function” are
expounded in the section “program use collision
detection”.
The collision detection sensitivity of each joint of JOG robot is:
S (Jog) = “teaching runtime” ×
“basic collision value”
Once:
real time torque > torque peak + (S (RPL) × Rated torque);
Then it is determined that the robot has collided.
Notes!
The smaller the values of S(RPL) and S(jog), the more sensitive the
collision detection is and the easier it is to generate false alarm.
Notes!
If the threshold is set too large, the false alarm can be reduced, but the
false alarm rate will be increased at the same time. Therefore, the
“basic collision value” is recommended to be 5% (5kg load and
within). Generally, the user only needs to adjust the “sensitivity”
