YASKAWA Motoman UP6 Instructions Manual page 223

The detection level is changed by the SHCKSET instruction. After this instruction is exe-
cuted, the shock will be detected by the detection level of the specified file when the condition
number is specified at SHCKSET instruction. The detection level is returned to standard level
when the SHCKRST instruction is executed.
The detection level of condition number 8 which is a standard file in play mode is adopted
S U P P L E -
in play mode excluding the range between SHCKSET and SHCKRST in the job.
M E N T
Method of Shock Detection Level File Setting
Operation
Select {ROBOT} under the top menu
the desired condition number
Explanation
*1
The shock detection level display is shown.
#
&
%
# # # # Detection Mode
The shock detection mode is indicated.
& & & & Condition Number (1 to 9)
1 to 7: For changing detection level in play mode
8 : For standard detection level in play mode
9 : For detection level in teach mode
Files for specific
section in play mode
Shock Detection
Level File
Condition number 1
Condition number 7
Condition number 8
Condition number 9
Select {SHOCK SENS LEVEL}
Select the desired item and set it
D A T A
EDIT DISPLAY
S H O C K D E T E C T I O N L V L
D E T E C T I O N M O D E : P L A Y
COND. NO. : 8 (STANDARD)
FUNC. MAX.DISTURBANCE DETECTION LVL
R1 VALID 80
R2 VALID 80
S1 VALID 80
S2 VALID 80
S3 VALID 80
!
3-65
3.12 Shock Detection Function
Standard file
for play mode
File for teach mode
UTILITY
L
R1
C S
100
100
100
100
,
100
+
*1
Select