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2.2.5 Collision detection
This series of robots has the "Collision detection function", which detects torque differences caused by colli-
sions with the robot arm. This function is set to "disabled" from the factory. It is not a safety function. This
function can be enabled/disabled with the COL parameter or ColChk command. Enable this function to pro-
tect the robot and peripheral devices.
The abnormalities are detected by the robot's kinetics model, presuming torque necessary for movement at
any time. Therefore, the setting parameter (HNDDAT*, WRKDAT*) of the hand and the work piece condi-
tions should be right. And, it may be detected as the collision in movement as speed and motor torque are
changed rapidly. (for example, the movement near the place of the origin by linear interpolation, the reversal
movement, the cold condition, the operation after long term stoppage)
In such a case, by adjusting the value of the setting parameter (COLLVL, COLLVLJG) of the collision detec-
tion level according to actual use environment, the sensitivity of collision detection can be optimized and the
damage risk can be reduced further. And, in the operation after the low temperature or long term stoppage,
please operate by accustoming at low speed (warm-up), or use the warm-up operation mode.
Refer to the separate instruction manual "Detailed explanations of functions and operations" for details of
related parameter.
Table 2-3: Factory-shipments condition
RV-5AS-D
2.2.6 Protection specifications
(1) Types of protection specifications
The robot arm has protection specifications that comply with the IEC Standards. The protection specifica-
tions and applicable fields are shown in
Table 2-4: Protection specifications and applicable fields
Type
RV-5AS-D
The IP numbers stated in IEC ratings indicate the ingress protection level against solid objects and water.
They do not indicate that the product's enclosure protects against oil. A definition of the IEC rating is stated
in "Information" below. Certain liquids may cause the robot to rust or corrode.
[Information]
• The IEC IP54
[Degree of protection against solids]
A protective enclosure which prevents dust particles from interfering with sproper operation of the
product and compromising safety.
[Degree of protection against water]
A protective enclosure that can withstand the following:
Fresh-water spray in any direction 180° from vertical at a distance of 300 to 500 mm with a water
volume of 10±0.5 L/min at 50 to 150 kPa over 1 m2 for a minimum of 10 minutes.
Table
Protection
specifications
(IEC Standards value)
IP54
JOG operation
Invalid
2-4.
Classification
Applicable field
Machine tool (cutting)
Oil mist
Machine shop with heavy oil
specifications
mist
Dusty work shop
Automatic
Invalid
Remarks
-
2 Robot arm
2-17
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