In order to realize the anti-collision function of Yaskawa robots, there are two ways to connect external sensors, which are described below; In addition, how to dismiss alarms will be described in this article.
01. Directly connect to an external collision sensor
1. Disassemble the short-circuited "SHOCK-" and "+24V2" pins at the mechanical safety I/O logic board in the control cabinet door (the anti-collision sensor is optional, so the cable of the standard robot's in-camera anti-collision sensor is not connected to the anti-collision sensor).
*The pin terminal for the connection of the anti-collision sensor is located on the right side of the inside of the control cabinet.
Yaskawa Robot
2. Connect the signal cable of the anti-collision sensor to the removed pin terminals "SHOCK-" and "+24V2" respectively.
*For the end of the signal line of the anti-collision sensor, please prepare the following style of pin terminal.
PS：
This method is typically used when the customer buys out the anti-collision sensor and then installs it where necessary.
02. Use the cable wiring in the machine to connect the anti-collision sensor
1. Disassemble the short-circuited "SHOCK-" and "+24V2" pins at the mechanical safety I/O logic board in the control cabinet door (the anti-collision sensor is optional, so the cable of the standard robot's in-camera anti-collision sensor is not connected to the anti-collision sensor).
*The pin terminal for the connection of the anti-collision sensor is located on the right side of the inside of the control cabinet.
2. Connect the removed pin terminal "SHOCK-" to the robot's anti-collision sensor "SHOCK+".
PS：
This method is generally used in Yaskawa arc welding robots, and the welding *** comes with an anti-collision sensor, so it can be connected directly through this method.
03. How to set the anti-collision sensor when it is in action
When using the input signal of the anti-collision sensor, you can specify the stop method of the robot.
There are two types of stop methods: "emergency stop" and "control", and the stop method can be selected by the teach-in programmer.
1. Select [Robot] in the main menu.
2. Select [Overtravel & Collision Sensor]
The overtravel and anti-collision sensor disarming screen is displayed.
– The "Collision Sensor Stop Command" allows you to set the stop condition detected by the active collision sensor to either "Emergency Stop" or "Control".
– Each time you press [Select], "Emergency Stop" and "Control" switch alternately.
Once the external collision alarm [4110] is sensed through the collision sensor, the alarm can be dissolved by linking to the article.
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