Collision Level Tables for All FAIRINO Robot Models

Below are the Collision Levels, which define how sensitive your robot is to collisions.

For example, if you set the collision level to 108 N.m Torque, when the robot detects a torque value of 108, it will stop immediately and report a collision.

To configure the Collision Level settings, navigate to:

Initial → Base → Joints → Collision Levels

1. FR3 (below):
   

Collision Level	J1	J2	J3	J4	J5	J6
1	9.6	14.72	12.8	7	7	7
2	12.8	19.6	17	9.3	9.3	9.3
3	16	24.5	21.3	11.7	11.7	11.7
4	19.2	29.44	25.6	14	14	14
5	22.4	34.3	29.9	16.3	16.3	16.3
6	25.6	39.2	34.1	18.7	18.7	18.7
7	28.8	44.16	38.4	21	21	21
8	32	49	42.7	23.3	23.3	23.3
9	35.2	53.9	46.9	25.7	25.7	25.7
10	38.4	58.8	51.2	28	28	28

1. FR5(below):
   

Collision Level	J1	J2	J3	J4	J5	J6
1	15	23.0	20.0	7.0	7.0	7.0
2	20	30.7	26.7	9.3	9.3	9.3
3	25	38.3	33.3	11.7	11.7	11.7
4	30	46.0	40.0	14.0	14.0	14.0
5	35	53.7	46.7	16.3	16.3	16.3
6	40	61.3	53.3	18.7	18.7	18.7
7	45	69.0	60.0	21.0	21.0	21.0
8	50	76.7	66.7	23.3	23.3	23.3
9	55	84.3	73.3	25.7	25.7	25.7
10	60	92.0	80.0	28.0	28.0	28.0

1. FR10(below):
   

Collision Level	J1	J2	J3	J4	J5	J6
1	57	87.4	20	14	14	14
2	76	116.53	26.7	18.7	18.7	18.7
3	95	145.67	33.3	23.3	23.3	23.3
4	114	174.8	40	28	28	28
5	133	203.9	46.7	32.7	32.7	32.7
6	152	233	53.3	37.3	37.3	37.3
7	171	262.2	60	42	42	42
8	190	291.3	66.7	46.7	46.7	46.7
9	209	320.4	73.3	51.3	51.3	51.3
10	228	349.6	80	56	56	56

1. FR16(below):
   

Collision Level	J1	J2	J3	J4	J5	J6
1	57	87.4	20	14	14	14
2	76	116.53	26.7	18.7	18.7	18.7
3	95	145.67	33.3	23.3	23.3	23.3
4	114	174.8	40	28	28	28
5	133	203.9	46.7	32.7	32.7	32.7
6	152	233	53.3	37.3	37.3	37.3
7	171	262.2	60	42	42	42
8	190	291.3	66.7	46.7	46.7	46.7
9	209	320.4	73.3	51.3	51.3	51.3
10	228	349.6	80	56	56	56

1. FR20(below):
   

Collision Level	J1	J2	J3	J4	J5	J6
1	108	165.6	76	21.87	21.87	21.87
2	144	220.8	101	29.2	29.2	29.2
3	180	276	126.7	36.5	36.5	36.5
4	216	331.2	152	43.75	43.75	43.75
5	252	386.4	177.3	51.04	51.04	51.04
6	288	441.6	202.7	58.35	58.35	58.35
7	324	496.8	228	65.62	65.62	65.62
8	360	552	253.3	72.91	72.91	72.91
9	396	607.2	278.7	80.2	80.2	80.2
10	432	662.4	304	87.5	87.5	87.5

1. FR30(below):
   

Collision Level	J1	J2	J3	J4	J5	J6
1	108	165.6	76	21.87	21.87	21.87
2	144	220.8	101	29.2	29.2	29.2
3	180	276	126.7	36.5	36.5	36.5
4	216	331.2	152	43.75	43.75	43.75
5	252	386.4	177.3	51.04	51.04	51.04
6	288	441.6	202.7	58.35	58.35	58.35
7	324	496.8	228	65.62	65.62	65.62
8	360	552	253.3	72.91	72.91	72.91
9	396	607.2	278.7	80.2	80.2	80.2
10	432	662.4	304	87.5	87.5	87.5

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