Safety configuration collision

Hello Armand0s,

First, I have some questions.
- Can you verify if the check boxes on the Customer PSM rows are checked? ( You should deactivate them like in the picture attached)
- Can you tell me if the robot is handling an object or having a load/Tool mounted on its TCP?
- What value in [Nm]did you choose for the Collision detection?

Here's how you add a permanent collision detection (Sunrise safety concept provides 2 different monitoring mechanisms: 1- Permanent safety-oriented monitoring PSM. 2- Event-dependent safety-oriented monitoring ESM)
- Open your SafetyConfiguration.sconf
- Go to the Tab Customer PSM
- uncheck all the boxes (unless you're using an external emergency stop system. either be it a button, a sensor or another input signal).
- Add a row and configure the category, AMF and reaction, and you can monitor collision on some axes or all axes (The steps are in the attached images).

Try this and you have issues feel free to ask

Kiiwa

To select AMF under Collection Detection, there is no "Axis Torque Monitoring"option in my sunrise workbench. As shown in the picture. Any suggestions?

If you do not see 'Collision Dection' than you do not have the option package 'Human Robot Collaboration' (HRC). The option package has to be installed of course (open 'Station Setup' -> select 'Software' tab -> select 'HRC' option package to be installed -> save 'Station Setup' -> take a look at the new option in your 'Safety Configuration').