COLLISION GUARD SCREEN


COLLISION GUARD SCREEN

  • The Collision Guard SETUP screen allows you to adjust the sensitivity of collision detection for programmed motion. Collision Guard automatically uses more sensitive limits for jogging motion. These limits cannot be adjusted.

  • Within a teach pendant program, you can disable Collision Guard locally through the use of special teach pendant instructions, COL DETECT OFF and COL DETECT ON.

  • Within a teach pendant program, you can adjust the sensitivity of Collision Guard locally using the COL GUARD ADJUST teach pendant instruction.

Note

In order to decrease the force of collision, Collision Guard allows the robot axes to sag away from the collision for 200 milliseconds after detecting a collision. When this happens, vertical robot axes might fall slightly after detecting a collision, due to the effect of gravity.

Warning

If you have used the SHIFT + RESET key combination to clear an error condition and you continue to press the SHIFT key without releasing it, subsequent collision alarms will NOT be detected, collision detection alarms will NOT be displayed, and you could injure personnel or damage equipment.

Before you can use Collision Guard, you must set it up. Setup includes:

  • Setting the Collision Guard Sensitivity

  • Specifying a register in which to set and store the sensitivity value for the COL GUARD ADJUST teach pendant instruction, if desired.

Table 1.  Collision Guard Setup Items

ITEM DESCRIPTION

Group

default: 1

This item indicates the currently selected group to which the other items in the menu apply. Note that you cannot edit this field directly. Instead, the current group is selected by pressing “F4” (Group) and entering the group number you wish to display. You will only be able to select a group that supports Collision Guard.

Collision Guard Status

default: ENABLED

This item specifies whether High Sensitivity Collision Detection is ON or OFF for the currently selected group:

  • ENABLED indicates that High Sensitivity Collision Detection is ON in all cases (programmed and jogging motion), unless it is turned OFF using the COL DETECT OFF instruction in a teach pendant program.

  • DISABLED indicates that High Sensitivity Collision Detection is OFF in all cases (programmed and jogging motion) and Standard Collision Detection is used.

Sensitivity

default: 100%

minimum: 1%

maximum: 200%

This item allows you to set the level of sensitivity for Collision Guard for the currently selected group:

  • The lower the value, the lower the sensitivity.

  • The higher the value, the higher the sensitivity. In some cases, you can decrease the sensitivity value to eliminate false alarms. In some cases, you can increase the sensitivity value to provide faster response.

Sensitivity Default Register

This item allows you to specify the register that can be used with the COL GUARD ADJUST teach pendant instruction to adjust the sensitivity of Collision Guard within a program. A register number of 0 indicates that the register is not used.

Collision Guard Error

This item allows you to specify a Digital Output that will be turned ON when a Collision Detect Alarm occurs. A value of 0 indicates that no output will be turned on.

Col. Guard Enabled

This item allows you to specify a Digital Output that will be turned on whenever Collision Guard is enabled via this setup menu, and turned off whenever Collision Guard is disabled via this setup menu. A value of 0 indicates that no output will be used.