A brief discussion on anti-collision zones and robot axis overload protection

After the two collisions, there will be an axle overload, so what are the variables that affect this overload?

$TORQMON[n] Load protection factor for each axis

Factor for torque monitoring in program mode (force sensing torque)

If the robot collides with an object, the robot controller increases the axis torque to overcome the resistance. This may damage the machine

A person, a tool or other object. The variable $TORQMON[] contains the current tolerance range for the axis torque in program mode.

$ TORQMON [axis number] = factor, default value 200, percentage of overload current, i.e. 200%.

So I thought if I want to reduce the loss of collision caused by interlock zone setting errors during the initial debugging of the KUKA robot, can we reduce the variable $TORQMON?

VASS standard A/E41-56 robot interlock, A/E81-96 for robot and confirmation close interlock signal.

16 locking commands are available as standard per robot, which are permanently assigned to the I/Os.

The corresponding lock input must be queried under online driving conditions.

1. When entering the safe zone:

If "Little Blue" enters the safety zone first, it should first turn off its own safety signal to "Little Yellow", and then wait for "Little Yellow"'s safety signal while working in the safety zone.

If "Little Yellow" enters the safe zone later, since "Little Blue" has turned off its own safety signal before, Little Yellow can only wait for Little Blue's safety signal to be sent again

2. When in the safe zone:

If "Little Blue" is in the safe zone, always wait for the safety signal from "Little Yellow".

If "Little Yellow" enters the safe zone later, since "Little Blue" has turned off its own safety signal before, Little Yellow can only wait for Little Blue's safety signal to be sent again.

3. When leaving the safe zone:

If "Little Blue" leaves the safety zone, a safety signal should be sent to "Little Yellow" first to release the interlock signal.

After "Little Yellow" enters the safety zone, turn off the interlock signal and wait for the safety signal from Little Blue.

PLC control of robot interference area:

Interlocking standard used by VASS standard: Interlocking diagram, setting the IO range used for interlocking between robots.

FB207 robot interlock signal control:

The robot can be set to send an interlock release signal by default when in position.

Editor: Huang Fei