# Tips

## Free-axis stop on collision

Check the setting labeled "free-axis collision" (軸フリー衝突).

COBOTTA supports two collision-response modes:

- **Stop** immediately upon collision.
- **Free axis** upon collision.

In free-axis mode, the controller can exit the free-axis state and enter a recoverable **continue-stop** state when the applicable recovery conditions are met, such as:

- COBOTTA motion comes to a stop, even if contact persists in the free-axis state.
- The robot remains stopped for at least one second after collision detection.
- An axis moves by at least 10 degrees after the collision is detected (after the axis has been released).

This makes software-only recovery possible even after a collision leads to a stop. In limited testing, this feature operated as expected.

However, the ease and reliability of recovery depend on the circumstances. It is still difficult to determine whether free-axis collision handling can safely be incorporated as an expected step in an automated sequence.

Nevertheless, this collision-response option significantly broadens the possible operating and motion strategies for COBOTTA.

### Configuring free-axis collision handling

1. Arm
2. Auxiliary functions
3. Collision / interference
4. Collision detection
5. Collision detection settings

The parameter can be set up to 1000%. A higher value makes collision detection less sensitive.

![](fig/collision1.png)
![](fig/collision2.png)
![](fig/collision3.png)
![](fig/collision4.png)
![](fig/collision5.png)

## Maximum-speed parameters

COBOTTA's dedicated hardware parameter configuration utility provides the settings shown below. After installing DENSO's WINCAP3, create a project, configure the controller, and load its settings from the controller to access the parameter screen.

Parameter tool:

![](fig/PastedGraphic-1.png)

The screen suggests that speed limits can be adjusted over a fairly wide range. However, when the hardware speed limit was actually changed and measured:

Actual J1 speed with the maximum setting:

![](fig/PastedGraphic-2.png)

Actual J1 speed with the normal setting:

![](fig/PastedGraphic-4.png)

The measured J1 speed changed by only about 6%, with no noticeable difference in operation.

For J6, by contrast:

J6 normal speed setting:

![](fig/speed1.png)

J6 maximum speed setting:

![](fig/PastedGraphic-1.png)

The measured speed increased by nearly a factor of 1.5.

This suggests that changing the speed limit is more effective for motions involving higher-numbered axes. For load-bearing axes such as J1, the benefit appears smaller.

### Configuring the parameters

Use WINCAP3 and the **Parameter Setting Tool** installed alongside it. A WINCAP3 license is provided with the purchase of a COBOTTA unit.

1. Install WINCAP3.
2. Create a new project in WINCAP3; the Parameter Setting Tool requires a project even if WINCAP3 itself is not used to move the robot.
   - The project is required to access the robot and retrieve controller parameters.
   - The Parameter Setting Tool uses the WINCAP3 project for this operation.
3. Launch the Parameter Setting Tool (installed with WINCAP3).
4. Open the project.
   - Choose **Add scene**. Different scenes can hold different parameter sets.
   - Parameters can be configured in newly added scenes.
   - The actual-machine and factory-default scenes cannot be edited.
5. Transfer the parameters using the Parameter Setting Tool's communication function.

![](fig/wincap1.png)
![](fig/wincap2.png)
![](fig/wincap3.png)
![](fig/wincap4.png)
![](fig/wincap5.png)
![](fig/wincap6.png)
![](fig/wincap7.png)
![](fig/wincap8.png)
![](fig/wincap9.png)