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168542-1CD
MLX200 Software and
Operations
5
Collision Detection
5.1
5
Collision Detection
5.1 Collision Detection Overview
Collision Detection Overview
This function does not completely avoid damage to the peripheral
devices; moreover, it does not guarantee the user's safety.
•
Make sure to prepare safety measures such as safeguarding, etc.
Failure to observe this caution may result in damage to machinery
caused by contact with the manipulator.
The MLX200 Collision Detection feature provides a mechanism to provide
extra protection to the robot and surrounding equipment in the case of
accidental collisions. This is done by measuring the torque "disturbance"
(i.e. difference between measured and expected torque) of each axis
during a particular application or operation. If the torque disturbance
becomes larger than a configurable maximum, the system will abort with a
Collision Detection Error (error code 528). The basic steps for configuring
and enabling Collision Detection are:
1. Start Collision Detection in Measurement Mode from either the MLX-
HMI or by directly calling the MLxRobotCollisionDetection instruction.
2. While in Measurement Mode, run the system through a typical
application cycle. While running in this mode, the system will report
back the Measured Torque Disturbance values. The application cycle
should be run for at least 30-60 minutes to provide reliable data.
3. Stop Measurement Mode from either the MLX-HMI or the
MLxRobotCollisionDetection instruction, and determine suitable
Allowable Torque Disturbance values for the application. These values
must be larger than the original Measured Torque Disturbance values
to prevent false alarms, and the sensitivity of the system can be
adjusted by increasing/decreasing the Allowable Torque Disturbance
values. A recommended starting point is Allowable Torque Distance =
Measured Torque disturbance + 15.
4. At the beginning of the application, use the
MLxRobotCollisionDetection instruction to start the system in
Execution Mode with the determined Allowable Torque Disturbance
values. Collision Detection will now be enabled until another call from
MLxRobotCollisionDetection disables it or the MLX PLC Interface
Application is restarted.
5-1
CAUTION
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