6.8      Operating Collision Detection

Collision detection is mainly used for reducing the impact on the robot arm, to avoid damage to the robot arm or external equipment. If the collision detection is activated, robot arm will stop running automatically when robot arm hit an obstacle.

NOTICE

If you need to activate collision detection, please make sure that the M1Studio version is V1.1.6 or later and the A9 firmware version is a9_app-0057 or later. If not, please download the right version from www.dobot.cc/downloadcenter/dobot-m1.html#most-download.

Prerequisites

Ÿ   Dobot M1 has been powered on.

Ÿ   Dobot M1 has been connected to a PC successfully.

Ÿ   Dobot M1 has been connected to an emergency stop switch.

Procedure

Step 1         Obtain kinetic parameters of each joints of robot arm, to avoid false collision detection.

1.         Remove the fixture on the robot arm and make sure that there are no obstacles within the workspace.

If there is no fixture on the robot arm, please skip this step.

2.         Select Tools > SafeSetting… on the M1Studio page.

The Safe Mode Setting page is displayed.

3.         Set Change Level to Low, PlayLoad to 0, select EX Force Restart and click Save, as shown in Figure 6.30.

Figure 6.30  Set collision detection parameters

 

4.         Select Tools > DynamicSetting… on the M1Stuido page.

The Dynamic Setting page is displayed.

5.         Be sure to understand the precautions shown on the Dynamic Setting page and then click Start.

After the process bar is 100%, the kinetic parameters will be obtained automatically, as shown in Figure 6.31.

If the kinetic parameters you get is quite different from Figure 6.31, please re-execute 1 - 5 since the obtained kinetic parameters are wrong.

 NOTICE

Ÿ   When obtaining kinetic parameters, robot arm will move in random directions for a while. Please make sure that there are no obstacles within the workspace, to avoid obtaining wrong kinetic parameters because of collision.

Ÿ   During robot arm running, please do not perform any other operation on Dobot M1 or power off Dobot M1, to avoid Dobot M1 in abnormal condition

Ÿ   When the unexpected occurs during robot arm running, please click Stop on the Dynamic Setting page.

Figure 6.31  Obtain kinetic parameters

 

6.         Click Save and Quit.

The kinetic parameters are saved in the main controller.

Step 2         Fix the fixture on the Dobot M1 based on site requirements.

Step 3         Select Tools > SafeSetting… on the M1Studio page.

The Safe Mode Setting page is displayed.

Step 4         Set the sensitivity level of the collision detection. In this topic, we set Middle.

At this point, the parameters in the Set Params section will be generated automatically as the set sensitivity level, as shown in Figure 6.32. The details of these parameters are listed in Table 6.9.

NOTICE

The parameters in the Set Params section are only effective for horizontal collision detection. Please DO NOT modify these parameters at will. If the vertical collision detection is required, please modify DiffJ3 to any value in the range from 40 to 50 and remain the rest unchanged.

 

Figure 6.32  Set sensitivity level

 

Table 6.9  Collision detection Parameters description

Parameter

Description

Low

No restrict. Namely, deactivate collision detection

Middle

Activate collision detection and the speed decreases 30%

High

Activate collision detection and the speed decreases 50%

 

Step 5         Set the payload based on site requirements. In this topic, we set 1, as shown in Figure 6.33.

Figure 6.33  Set payload

 

Step 6         Set post-collision measure. In this topic, we set to EX Force Restart.

Table 6.10  Post-collision measure description

Parameter

Description

EX Force Restart

Dobot M1 continues the current task by the external force (Horizontal)

5s Restart

Dobot M1 continues the current task automatically after 5 seconds

 

Step 7         Click Save and then click Quit.

Step 8         Restart Dobot M1 to make the collision detection parameters effective.

Step 9         Verify whether the collision detection is effective.

When Dobot M1 hit an obstacle during running, Dobot M1 stops running automatically. If you touch the Dobot M1, Dobot M1 runs again, indicating that the setting is effective.

Abnormal Handling

After the collision detection is activated, if the collision detection is unexpected or the related alarm is triggered, please re-obtain the kinetic parameters.














 Issue V1.2.1 (2019-04-10)User GuideCopyright © Yuejiang Technology Co., Ltd