Auto Collision Recovery

Collision Recovery is a software option, specifically R791. it is enabled by default when it is installed.
Collision recovery needs Collision Guard to be installed.

This is an example from the manual

/PROG EXAMPLE1
1: LBL[10] ;
2: CALL HTCOLSET(1) ;…….enable collision recovery process
3: SKIP CONDITION ERR_NUM=11050 ;
4:J P[1:APPROACH] 25% CNT100 ;
5:L P[2:PICK POS] 100mm/sec FINE Skip,LBL[100],PR[3:Clear]=LPOS ;
6: ! Recovered from Collision at PR[3]
7: CALL HTCOLSET(0) ;……disable collision recovery process
...8: RO[1:GRIPPER]=OFF ; --open gripper
9: !add recovery actions here ;
10: ! add recovery actions here ;;
11: JMP LBL[10] ;………..repeat pick up operation
12: LBL[100] ;……continues if there is no collision
13: CALL HTCOLSET(0) ;……disable collision recovery process
14: RO[1:GRIPPER]=ON ;---close gripper
15:J P[3:RETRACT] 25% CNT100 ;
16: LBL[200]

I have Collision Guard installed, and have implemented the logic as described in the manual. However, no matter what I try, I cannot get the robot to auto-reset the High Speed Stop / Collision Detection alarms. The manual, indicates that a background process is monitoring for the Alarm and will reset/start automatically. For me, this is not the case.

It always pauses the program and fails to reset/resume. Upon resuming the program (deliberately through the PLC using UI:FAULT_RESET and UI:PROD_START), it then executes the COLLISION SKIP recovery process as I'd expect it to.

Is this possibly because I have 'Remote/Local Setup' set to 'Remote'?

Also, is there supposed to be a BG Logic task, e.g. HTCOLREC.pc or HTCOLSET.pc in the task list?

Hi,

The new FANUC robot software v9.40 version doesn't provide Auto Collision Recovery option anymore.

Is any one have HTCOLREC.pc file?

Would you please share this file?

Thanks.

Not just only HTCOLREC, lot of .pc-s are gone.. I'm searching this too