YASKAWA Motoman UP6 Instructions Manual page 224

3.12 Shock Detection Function
Do either of the following operations to display the desired condition number.
When the desired condition number is input with a numeric key and the [ENTER] is
pressed after the cursor is moved on the condition number and [SELECT] is pressed,
the file of the selected condition number is displayed.
When page key
Function Select
% % % %
VALID/INVALID of the shock detection function is specified here. The shock detec-
tion function is specified by each manipulator or each station axes which has this
function.
The cursor is moved to the robot or the station axis which is desired to change the
function "VALID" or "INVALID" and [SELECT] is pressed. "VALID" and "INVALID" is
changed alternately whenever [SELECT] is pressed. The change of "VALID" or
"INVALID" is effective for all the condition number files.
Max. Disturbance Force
+ + + +
The maximum disturbance force to the manipulator when the manipulator is moved
in play back operation or axis operation is shown here.
Refer to this value when the detection level in (5) is input.
The maximum disturbance force can be cleared by setting in menu {DATA} )
{CLEAR MAX VALUE}.
Detection Level (Level range: 1 to 500)
, , , ,
The shock detection level is specified here. Bigger value than the maximum distur-
bance force should be set.
The value (The detection level:100) not mis-detected the shock even if robot is oper-
ated at the maximum speed is set when shipping from the factory.
To change "Detection level", move the cursor to the robot or the station axis which is
desired to change to appear the numeric input status and press [SELECT] moreover
input the value by a numeric key and press [ENTER]. Set the level to small value to
raise the detection sensitivity or set the level to large value to lower sensitivity.
Set the level 20% or more greatly than the maximum disturbance force for the mis-detec-
N OT E
tion prevention when the manipulator works.
Instantly stopping the manipulator by mis-detection may become a factor to damage the
speed reducer or the tool.
<Example>
When the maximum disturbance force is 80, set the detection level 96 or more.
N OT E "Detection level" can be changed only when the security mode is set as management
mode.
is pressed the condition number file is changed.
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