Fairino robots have built-in collision detection that protects both the robot and its environment. However, it needs to be tuned for your specific application — the defaults may trigger false positives with heavy tools or cause the robot to stop unexpectedly.
Where to find the settings
Go to Initial → Base → Joint → Collision Detection
Configuration guidelines
| Application | Sensitivity | Notes |
| Collaborative mode (human nearby) | ~1/100 (very sensitive) | Required for safety in collaborative environments |
| General industrial use | Medium (default) | Good balance for most applications |
| Heavy tools (welding torch, grinder) | Higher threshold | Prevents false triggers from tool weight/inertia |
| High-speed movements | Higher threshold | Acceleration forces can trigger sensitive collision detection |
Key rules
- Always keep collision detection ON — never disable it completely. Even in industrial settings, an unexpected collision can damage the robot, the tool, or the workpiece.
- Per-joint tuning: Collision impact torque values are adjustable for each joint individually. Joint 6 (wrist) typically needs a different threshold than Joint 1 (base) because the forces involved are very different.
- Payload settings matter: Incorrect payload/inertia settings cause the controller to miscalculate expected forces, leading to phantom collision detections. Always enter accurate mass, center of gravity, and inertia values.
False positives: common causes
1. Static collision detection while stationary
If you get collision warnings while the robot is holding a heavy tool but not moving, the static collision threshold may be too sensitive. This can be adjusted separately from the dynamic (moving) collision threshold.
2. Drag mode false triggers
If you physically push or pull the robot without activating drag mode first (the hand icon in the UI, or pressing the drag button on the teach pendant), the robot interprets the unexpected force as a collision. This is expected behavior — always activate drag mode before manually moving the robot. The TCP LED should turn white when drag mode is active.
3. Stiffness parameter
The robot has a "stiffness" parameter (servo regulation strategy). Fairino's technical support has confirmed that the stiffness setting is fixed per robot model and cannot be changed by the end user. The only way to adjust perceived stiffness is through friction compensation parameters (all set to 1 by default). The "High Stiffness" label in the UI is informational — it reflects the fixed hardware characteristic, not a changeable setting.
4. After firmware updates
Collision detection behavior can change between firmware versions. If you notice different sensitivity after an update, recalibrate your thresholds and verify payload settings were preserved.
Soft limit errors and collision detection interaction
When a joint hits its soft limit, the robot locks its brakes and may trigger a collision-like error. You cannot push past the soft limit — the robot will not allow it. If Joint 6 hits its soft limit, you may not be able to move the robot at all until the error is cleared and the joint is manually backed away from the limit in jog mode.
Reference
The official manual's error code appendix provides limited detail on collision-related errors: manual.fairino.support — Appendix