9.26.2.4. Recommended settings for detection thresholds
9.26.2.4.1. Joint detection thresholds
The recommended joint detection threshold is equivalent to setting the collision level to level 10. The larger the value, the less sensitive the collision detection. The value range is in NM. The data in the table is for reference only. The actual value needs to be adjusted according to the robot’s running speed and load conditions.
Table 9.26-1 Recommended joint thresholds
Robot Type | J1 | J2 | J3 | J4 | J5 | J6 |
FR3 | 0.4 | 0.7 | 0.6 | 0.3 | 0.3 | 0.3 |
FR3-WMS | 0.4 | 0.7 | 0.6 | 0.3 | 0.3 | 0.3 |
FR3-WML | 0.4 | 0.7 | 0.6 | 0.3 | 0.3 | 0.3 |
FR3-C | 0.4 | 0.7 | 0.6 | 0.3 | 0.3 | 0.3 |
FR5 | 0.6 | 1 | 0.8 | 0.3 | 0.3 | 0.3 |
FR10 | 2.5 | 3.6 | 0.8 | 0.6 | 0.6 | 0.6 |
FR16 | 2.5 | 3.6 | 0.8 | 0.6 | 0.6 | 0.6 |
FR20 | 5 | 8 | 4.5 | 0.9 | 0.9 | 0.9 |
FR30 | 5 | 8 | 4.5 | 0.9 | 0.9 | 0.9 |
9.26.2.4.2. TCP detection threshold
The larger the TCP detection threshold, the less sensitive the collision detection. The value range is, and the unit is N. The data in the table is for reference only. The actual value needs to be adjusted according to the robot’s running speed and load conditions.
Table 9.26-2 TCP detection threshold
Robot Type | X | Y | Z | RX | RY | RZ |
FR3 | 300 | 300 | 300 | 20 | 20 | 20 |
FR3-WMS | 300 | 300 | 300 | 20 | 20 | 20 |
FR3-WML | 300 | 300 | 300 | 20 | 20 | 20 |
FR3-C | 300 | 300 | 300 | 20 | 20 | 20 |
FR5 | 300 | 300 | 300 | 20 | 20 | 20 |
FR10 | 500 | 500 | 500 | 35 | 35 | 35 |
FR16 | 500 | 500 | 500 | 35 | 35 | 35 |
FR20 | 800 | 800 | 800 | 60 | 60 | 60 |
FR30 | 800 | 800 | 800 | 60 | 60 | 60 |
9.27. T-Shape Velocity Characteristic Optimization + Blending Smoothing Function
9.27.1. Overview
Blending between two trajectory segments avoids frequent start-stop issues caused by complete stops, thereby improving robot motion efficiency. This function primarily performs blending between PTP, LIN, ARC, and CIRCLE instructions, achievable in two ways: using Lua instruction mode or motion configuration switch mode.
9.27.2. Operation Procedures
9.27.2.1. PTP-PTP Blending
9.27.2.1.1. Using Lua Instruction Mode
Step 1: Select teaching points for PTP-PTP function execution. This manual uses “A0” to “A5” as teaching point names.
Step 2: Click “Teach Program” → “Program Programming” button, select “Point-to-Point” in “Motion Instructions”, choose teaching points in “Instruction Editing”, set debug speed, select “Acceleration Smooth Mode” for motion protection, and configure “Smooth Transition” parameter at points requiring smoothing.
Figure 9.27-1 Blending Instruction Settings for Accelerated Smooth PTP Instructions
Step 3: Add multiple PTP instructions, generate and run a Lua program to implement PTP-PTP blending. This mode uses optimized T-shape velocity motion only for instructions between AccSmoothStart() and AccSmoothEnd(), with original T-shape velocity for others.
Figure 9.27-2 Typical PTP-PTP Blending Program in Lua Instruction Mode
9.27.2.1.2. Using Motion Configuration Switch Mode
Step 1: Click “Initial Settings” → “Safety” → “Motion Configuration” button to enable the “Acceleration Smooth Mode” switch.
Figure 9.27-3 Acceleration Smooth Mode Configuration Switch Settings
Step 2: Select teaching points for PTP-PTP function execution, using “A0” to “A5” as names.
Step 3: Click “Teach Program” → “Program Programming” button, select “Point-to-Point” in “Motion Instructions”, choose teaching points, set debug speed, select “None” for motion protection, and configure “Smooth Transition” parameter at points requiring smoothing.
Figure 9.27-4 Blending Instruction Settings for Conventional PTP Instructions
Step 4: Add multiple PTP instructions, generate and run a Lua program to implement PTP-PTP blending. The typical program mirrors conventional PTP-PTP programs, applying optimized T-shape velocity motion to all instructions.
Figure 9.27-5 Typical PTP-PTP Blending Program Using Configuration Switch