YASKAWA NX100 Instructions Manual page 130

8.7 Shock Detection Function
Tool load Information Setting
To increase the accuracy of shock detection, set the tool load information in the tool file. Refer
to "8.4.3 Tool Load Information Setting" for details of the tool load information setting.
Instruction of Shock Detection Function
SHCKSET instruction
The SHCKSET instruction changes the shock detection level to the value set in the shock
detection level file during play back operation.
The additional items of the SHCKSET instruction are as follows.
SHCKSET R1 SSL#(1)
Robot Setting
Specifies the manipulator of which shock detection level is to be modified. If nothing is
specified, the modification is applied to the shock detection level of the job control group in
this instruction. However, in case of coordinated job, the modification is applied to the
shock detection level of the slave axis group.
Shock Detection Level Condition Number (1 to 7)
Specifies the shock detection level condition number in which the detection level in play-
back mode is set.
SHCKRST instruction
The shock detection level changed by the SHCKSET instruction is reset and returned to the
detection level of the standard (value set in condition number 8) by the SHCKRST instruction.
The additional item of the SHCKRST instruction is as follows.
SHCKRST R1
Robot Setting
Specifies the manipulator of which shock detection level is to be reset. If nothing is speci-
fied, the modification will be applied to the shock detection level of the job control group of
this instruction. However, in case of coordinated job, the modification is applied to the
shock detection level of the slave axis group.
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