3Explanation of operation methods
Jog Feed (Overview) 3-29
(1) Impact Detection Level Adjustment during Jog Operation
The sensitivity of impact detection during jog operation is set to a lower value. If higher impact sensitivity is
required, adjust the COLLVLJG parameter before use. Also, be sure to set the HNDDAT0 and WRKDAT0
parameters correctly before use. If a jog operation is carried out without setting these parameters correctly,
erroneous detection may occur depending on the posture of the robot.
Precaution for the Impact Detection Function
Enabling the impact detection function does not completely prevent the robot, hand, workpiece and others
from being damaged, which may be caused by interference with peripheral devices. In principle, operate
the robot by paying attention not to interfere with peripheral devices.
Operation after Impact
If the servo is turned ON while the hand and/or arm is interfering with peripheral devices, the impact
detection state occurs again, preventing the servo from being turned ON. If an error persists even after
repeatedly turning ON the servo, release the arm by a brake release operation once and then turn ON the
servo again. Or, release the arm by turning ON the servo according to the Page 61, "3.11 Operation to
Temporarily Reset an Error that Cannot Be Canceled".
Relationship with impact detection for automatic operation
Settings of the impact detection function for jog operation and the impact detection function for automatic
operation are independent. The setting for jog operation is used when the robot is not performing program
operation. Even if the impact detection function for automatic operation is disabled in a program when the
setting for jog operation is enabled, the setting is switched to that for jog operation (impact detection
enabled) when the operation is paused.
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