Determining the collision threshold values

To accurately detect collision, the threshold values must be set as low as possible. Proceed as follows:

INFORMATION

The threshold values may vary greatly depending on the additional load due to workpieces, the accuracy of the inertia properties of the robot arms, and the drive train. As a result, the collision detection cannot be triggered and damage can be caused to the robot or its environment.

INFORMATION

Clearance in the mechanical system can lead to shocks which become apparent as variations in the actual torque. These can be falsely detected as collisions by the collision detection system. If the clearance cannot be eliminated, the threshold values must be increased.
  1. Start the active SRL program in real operation.
  2. Use the RobotMonitor or the robot's IEC user interface to activate the calculation of the deviation between the setpoints and actual values (xCalculateDeviation_Motor). See Physics (IEC) for more information.
  3. Have the robot travel off the robot path at least five times or, ideally, far more often.
    • In applications with conveyor belt tracking or with a fieldbus interface where the robot path varies when the SRL program is identical, ensure that the deviation calculation is not stopped too early.
    • If several programs are active in succession, the deviation calculation must be performed for all programs.
  4. Deactivate the calculation of the deviation between the setpoints and actual values (xCalculateDeviation_Motor).
    • The maximum deviations appear in the Log. Ignore the message in RobotMonitor. The calculated deviations are the greatest deviation between the setpoints and actual values in the motion in which the calculation was active.
  5. Transfer the values from the information message in the Collision response configuration menu. When doing this, increase the values by a tolerance in order to be able to ignore unexpectedly large deviations between setpoints and actual values that are not due to collisions.
  6. Test the threshold values in continuous duty without collisions. Continue to increase the threshold values if collisions are detected where there are none.
  7. Test the threshold values using a provoked collision with workpieces. If the collisions are not detected, contact SEW‑EURODRIVE Service.