CollisionDetect Statement

Enables or disables the collision detection (detection of robot motion error) of the current robot.

Syntax
(1) CollisionDetect status

(2) CollisionDetect status, jointNumber

(3) CollisionDetect

Parameters

Status

• On: Enables the collision detection (detection of robot motion error).
• Off: Disables the collision detection (detection of robot motion error).

jointNumber

For SCARA robots (including RS series), it specifies the joint by a joint number from 1 to 4, Vertical 6-axis robots (including N series): Specify the joint by a joint number from 1 to 6

Result
Returns the current CollisionDetect status when the parameters are omitted.

Description
Detect the robot motion error from differentiation between desired speed and the actual speed (speed deviation value). Errors can be detected by this function is classified into A and B.

• A: Collision or contact of robot arm or hand occurs
• B: Robot motion errors other than collision or contact

Also, error B is classified into below according to the power condition.

• Error in high power: Torque saturation due to little setting of Weight or Inertia.
  • Torque saturation due to combined motion of multiple joints and throwing around the long object.
  • Torque saturation due to supply voltage reduction.
  • Error motion due to hardware error or software malfunction.
• Error in low power
  • Error motion due to hardware error or software malfunction.
  • Torque saturation in low power due to holding a hand or long object that exceeds the weight described in the specifications.

The collision detection is available for the general-purpose robots supported by the EPSON RC+ 7.0 Ver.7.2 or later (vertical 6-axis and SCARA robots). If this command is used while unsupported robot (X5 series, etc.) is connected, an error occurs.

Execution of this command takes a little time. If cycle time is prioritized, minimize the use of this command in the program.

This function can be enabled or disabled for each joint or all joints. The default is “all joints on”. (The default is off if the firmware version is before Ver 7.2.0.x.)

The setting returns to the default when the Controller is turned off. In other cases, the setting does not change unless otherwise configured by this command explicitly.

Output the following messages and stop the robot when the collision is detected.

• Error 5057 “Collision was detected in High power mode” (detection of robot motion error).
• Error 5058 “Collision was detected in Low power mode” (detection of robot motion error).

For reducing damage in High power mode, using the command together with the upper limit torque restriction by LimitTorque is also effective. For reducing damage in Low power mode, using the command together with the upper limit torque restriction by LimitTorqueLP is also effective.

Refer to the following:
"Epson RC+ User’s Guide - Collision Detection Function (Detection Function of Robot Motion Error)"

See Also
LimitTorque, LimitTorque Function, LimitTorqueLP, LimitTorqueLP Function

CollisionDetectStatement Example

CollisionDetect On       ' Turns On the collision detection for all joints
CollisionDetect Off, 5   ' Turns On the collision detection for only Joint #5
CollisionDetect          ' The result will be displayed as "on, on, on, on, off, on".