Hello,
I am using a KRC2 2005 Edition with KSS V5.4.14. I have a KR180 Manipulator.
How can check whether collision detect is enabled or disabled? How can I enable it if it shut off?? Is it enabled in all modes (T2,T2,AUTO,EXT) ?
Cheers
Hello,
I am using a KRC2 2005 Edition with KSS V5.4.14. I have a KR180 Manipulator.
How can check whether collision detect is enabled or disabled? How can I enable it if it shut off?? Is it enabled in all modes (T2,T2,AUTO,EXT) ?
Cheers
Check System Integrators manual for your KSS. Normally access is from menu Configure, Miscelaneous etc.
If you are setting up collision detection, make sure to enable collision detection for motions of interest, test program in T1.
When all ok, deactivate collision detection and run program few cycles in high speed (AUT for example) and activate it again.
During few cycles that detection was deactivated, robot is learning 'base line' for motor torques for each of motions.
later on, after it is activated, learning phase is over and robot is comparing actual motor current with learned reference.
if values exceed tolerance, collision Detection trips robot.
If you are getting nuisance trips, check if your load is entered correctly (not must M and CM, but everything - including inertia) and if it is correctly used in program.
Another issue could be that something in program has changed since last learning phase (different path?) or that learning was done at lower override speed.
Cheers...
I did some further reading and digging and my robot does not have collision detect, only torque monitoring. It was confusing try to find something that was not even there! Thanks for the help Panic Mode!