Collision Detect response time

In collision detection, the current motor current is monitored, and when the peak current exceeds the set threshold, the robot considers it has collided.

In shock detection, changes in the motor current per unit time are monitored, and when the amount of change exceeds the set threshold, the robot considers it has collided. This function detects collision faster than the collision detection described above, and is efficient in lessening the damage given to the robot or tool.

You would have to contact a distributor for that kind of information in terms of response time from the CPU as collision and shock detection uses different characteristics.
- Collision detection is based on peak current detection in relation to threshold settings - upto 500%.
- Shock detection is based on current/time and is much quicker than collision detection - upto 200%/ms.

Correct Tool Load (WEIGHT) and speeds will create various results due to change in inertia/momentum.