Collision Detection
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The Collision Detection enables or disables joint torque-based collision detection and configures its sensitivity thresholds. When enabled, the Robot continuously monitors the error between expected and actual joint torques. If this error exceeds the computed threshold on any joint, a collision stop is triggered immediately. This means, while adjusting thresholds, smaller values will trigger collision detection faster, because the threshold will be smaller.
Base Sensitivity
Governs sensitivity when the Robot is moving slowly. At low velocity velocity threshold will not have an effect and the stiction is negligible, so Base Sensitivity is effectively the entire threshold.
When to adjust: If the Robot false-positives during slow positioning moves — for example after loading a heavy or asymmetric payload — increase this value. If a slow-speed collision (such as pressing into a fixture) goes undetected, decrease it. This is the most important parameter: it always applies, regardless of speed or motion state.
Speed Sensitivity
Controls how much the threshold grows as the commanded joint velocity increases. This is the slope of the threshold–velocity curve: higher values allow larger tracking errors at speed.
When to adjust: If the Robot trips during fast transits but runs fine at low speed, increase this value — it gives the controller more headroom to handle inertia, coriolis, and actuator dynamics at high speed. Conversely, if precise contact detection during a slow approach is required, keep this value low so the threshold stays tight near zero velocity.
Startup Tolerance
Sets the magnitude of extra threshold granted during the stiction window — at movement start, stop, and direction reversal. Static friction (stiction) causes a transient torque spike at these moments that is indistinguishable from a collision without this tolerance.
When to adjust: If the Robot false-positives in the first 200ms of every move — jerking to a stop immediately after each command — increase this value. The correct setting varies significantly by site: a cold environment with thick joint grease or a heavy payload will require a higher value than a warm, lightly-loaded Robot running continuously.