Configuring The Force Detection Hold Function (Supported Only By Yrc1000 System Version Yas2.41 Or Later And Yrc1000Micro System Version Ybs2.10 Or Later) - YASKAWA YRC1000micro Collaborative Operation Instructions

HW1484764
3.6. Configuring the Force Detection Hold Function
(Supported Only by YRC1000 System Version YAS2.41 or Later and
YRC1000micro System Version YBS2.10 or Later)
You can change the operation thresholds of the force detection hold function by setting the
following D variables to a percentage of the start threshold for the avoidance function. Setting the
thresholds to zero (0) disables the force detection hold function.
The thresholds are set to zero (0) by factory default.
The force detection hold function uses the threshold for your selected avoidance mode if the
avoidance function is enabled or the thresholds for both joint and translation modes if the
avoidance function is disabled.
In translation mode, the force acting on the TCP in the cartesian coordinate system is compared
with the thresholds.
Variable Description
D397 Threshold addition percentage in joint mode
D398 Threshold addition percentage in translation mode
Use the following formula:
Force detection hold threshold = avoidance operation start threshold x (100 + threshold addition
percentage)/100
Refer also to the variables list in Chapter 8.
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HW1484764
Configuring Each Function
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