Switching to Low Sensitivity

In this video, Sterling Shepherd, one of FANUC America’s senior engineers, introduces Low Sensitivity. Low Sensitivity is an icon instruction that temporarily changes the force limit sensitivity of the robot from NORMAL to LOW. This means that the robot uses a lower resolution of its sensors to detect the same external force limit. Low Sensitivity is active only within the instruction’s bracket, outside of the bracket sensitivity reverts to normal. A short video demonstrates an application where you would find yourself in a situation where Low Sensitivity is required. You will see sliding CNC doors that need to overcome initial forces, but these forces cause the robot to fail while on normal sensitivity. The solution here is to switch over to the low sensitivity instruction icon, allowing the robot to slide the CNC door without an issue. To switch to the Low Sensitivity Instruction Icon, you must insert it into your program. This is done by tapping and dragging the icon into the program then dragging the instruction icons of your choice into the bracket. Sterling provides several examples, including one where a robot pushes a box with and without Low Sensitivity instruction. The example shows that when not using low sensitivity, a contact stop fault occurs due to external forces exceeding external force limitation. The instruction must only be used during the push movement, for the robot to be able to push the box. Examples of varying load tolerances are discussed next. The Low Sensitivity instruction is helpful when package weight or the center of gravity is unknown or unmeasurable. In Low Sensitivity mode, some circumstances may revert sensitivity to normal. Supported from version V9.4OP/29, users migrating from older versions must verify force limit sensitivity settings via the iPendant UI under DCS settings.