Robotiq Finishing Kits- Instruction Manual
4.15. Collision Detection node
The Collision Detection feature is used to stop a program when the forces and the torques, monitored by the FT Sensor for CB-
Series or by the embedded e-Series sensor, exceed the defined limits. By default, the program does not monitor forces and
torques.
How to add a Collision Detection
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On CB-Series:From the PolyScope home page, tap Program Robot and create or load a robot program
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On e-Series:On the teach pendant, tap the New button to create a program or the Open button to load a program
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From the Installation tab:
1. Go to the Installation tab and tap the URCaps submenu
2. Select Copilot
3. Tap the Configuration tab to edit it.
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From the Program tab:
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Tap the URCaps button in the navigation pane on the left
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Select Collision Detection
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Tap the Collision Detection node to edit it
You can either choose to halt (stop) or suspend (pause) the program when a collision is detected. The forces and torques
monitored in the collision detection node are the ones measured by the embedded e-Series sensor or theFT Sensor for CB-
Series robot. Thus, any forces or torques applied to the robot arm will not be detected. Only those applied to the end-of-arm
tooling are monitored.
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