Hi, I have some doubts about that and that's why i'm asking.
To detect collisions during operations of robot we are using SHOCK DETECTION, levels of that detection are set in few condition files. I don't have problem with that. My problem is OFFSET which is added to that levels by robot.
What I found in Yaskawa manuals, quote :
"To adjust to the change in the grease viscosity at a cold
start, the offset value is automatically added to DETECT
LEVEL until the robot has operated for a certain period of
time.
Thus, at a cold start, the shock detection will be performed
only when the value is more than or equal to the sum of
DETECT LEVEL and the offset value.
The offset value varies depending on the manipulator type."
165292-1CD, rev 12 , page 170
I totally understand why it is necessary and it's normal.
I'm checking robots on line for some time and from my observations I can tell you that every time after we start first shift robots are working with offset. It's easy to confirm by comparing shock detection condition files with current detection level on EACH AXIS LEVEL (CURRENT) window .
My questions are:
1. We are working only two shifts per day, is it possible that robot is adding offset because of 8 hours brake(no operation, movement during night)?
2. If no.1 is true - after how many hours(min.) without operations, restart of robot is consider as COLD START?
3. How long manipulator needs to work with offset, what is that "certain period of
time"? (manipulator type: MS165)
Thanks in advance!
