Alarm 9127 Collision detect must be enabled

    Hello,

    I'm working with a motoman HP20 and a NX100 controller. My problem is that when I want to go into play mode to run a program, I get a 9127 alarm "Collision detect must be enabled". I have checked the shock sensor and made sure it was on valid. I specify that the robot is a second-hand robot which used for the metallic projection with an electric arc but which serves now to hold small pieces.

    I know that this alarm is a user alarm, so is it possible invalid or delete this alarm ? Can you help me to resolve my problem ?

    Thank you in advance.

    Matthieu

    Hey, I haven't found other solution to this than invalidating the alarm in the CIO. But, in my case the robots are twinned, so I believe that this has something to do with the calibration of the robots. I'll edit the program and see what is it about.

    Here is the logic behind the alarm. It may be tweaked with contacts in parallel for additional robots. It may also be modified if the controller has servo float is turned on, with an additional set of contacts in series..

    // ALARM TEXT -- [COLLISION DETECT MUST BE ENABLED]
    STR-NOT #50560 // Shock Detection Valid R1
    AND #50054 // Play Mode
    AND #50066 // Position Check Complete
    TMR M234,5 // Debounce Tmr (now 0.5 seconds)
    OUT #79777 // User Alarm 63


    So, if the shock sens level is invalid and the controller is in play and the position has been checked (essentially Alarm 4107 not appearing), a half second later user alarm 9127 occurs.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

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