I want to protect my robot and gripper when it goes down to the pick position, in case there might be an obstacle before the end position is reached. Is there a way to detect an unusual raise of current or torque of the robot (when hitting the obstacle).
Or what is the best way to implement 'collision detection'?
System is KRC4 KSS8.3. Robot KR240 R3330
KRC 4 collision detection
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SimotionD410 -
January 8, 2018 at 10:49 AM -
Thread is marked as Resolved.
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read READ FIRST
the most important manual is mentioned there and and it has chapter on collision detection -
we have a similar scenario where we travel down a stack of parts with a vacuum on to pick parts, to an end position with 2 interrupts active:
one is to check for the vacuum ok signal (calls sub routine to save current robot position (for rapid down next cycle) and to return to top of stack with part).
the second it to check for $curr_act[5] <-15.0. (if we meet too much resistance without making vacuum - returns rapid position to top of stack, calls for pallet change and returns robot)