HC Series Shock Detection and PFL

Introduction

HC series robots can run with PFL (Power Force Limiting) enabled or disabled.  In both cases, Shock Detection is also enabled, and the Standard Condition files should be set to low acceptable levels.

Explanation

While PFL is enabled on an HC series robot the manipulator TCP speed is automatically limited to the default Speed Limit in file 32, or any other VALID Speed Limit file which has a lower value.  A VALID External Force Limit file is also required.  If the Internal Torque Sensors detect a Force that is greater than the VALID External Force Limit value, the manipulator will execute Escape from Clamping (a short move backwards along the programmed path) and then come to a standstill by executing a Category 2 e-stop.  This behavior is intended to allow for safe interactions of a Human and the robot when it has been set up and programmed properly to satisfy the Industrial Standards of ISO 10218 section 1 and 2 per a Risk Assessment of the robot system and application.  This behavior also has the added benefit of protecting the Robot and auxiliary equipment from major damage due to unintended collisions.

PFL can be disabled.  When PFL is disabled, the robot is no longer limited to the default Speed Limit in file 32, though other VALID Speed Limit files may still be applied.  The robot is also no longer governed by any External Force Limits.  The robot can be programmed to run at full Industrial speeds up to 2000 mm/s and unintended collisions can potentially cause major damage to the Robot and auxiliary equipment.

The standard YRC1000/micro Shock Detection Function is always active, regardless of whether PFL is enabled or disabled.  It is important to set the values for at least the standard levels of the Shock Detection Function files to acceptably low levels to help protect the Robot and auxiliary equipment from major damage from unintended collisions.

There are a total of 9 Shock Detection Condition files available.  Condition file 8 is used as the standard when in PLAY mode.  Condition file 9 is used as the standard when in TEACH mode.  For more information refer to section 8.7 Shock Detection Function in the YRC1000/micro Instructions manual.