In the collision detection function, it is applied to the Kawasaki robot arm or something to detect the collision or impact to sense the collision. These functions are called collision detection and collision detection, respectively.
In collision detection, the current motor current is monitored, and when the peak current exceeds the set threshold size, the robot considers the collision.
In shock detection, changes in motor current are monitored for each unit of time, and when the change exceeds a set threshold scale, the robot thinks it has been affected. This function is faster than the collision detection speed described above, and can be useful to reduce damage to the robot and its things.
Collision detection and threshold values for collision detection are pre-set at the factory. The thresholds for each axis are set to teach/view and playback formats. It is possible to apply the set threshold, but for conditions that require special attention to prevent resistance, you should change this threshold to adjust its sensitivity.
Thresholds in the form of broadcasts can be logged in under the threshold numbers 1 to 9. These threshold numbers can be used in the program.
Watch out
The threshold for resistance detection is now set to the value that the robot can correctly detect at *high speeds and rated loads. Therefore, this function can be used without setting a threshold. For special actions that require damage to be reduced to *small*, it is possible to adjust the sensitivity of this trait by changing this threshold. Together, as far as spot welding is concerned, when the moving electrode line of welding *** is about to touch the workpiece, the function is automatically closed.
At the time of handover, the threshold is now set along with the load rating, but the data can be set to improve the sensitivity of the resistance detection.
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