Mitsubishi Electric CR750-Q Instruction Manual page 403

P_CavDir
[Function]
Returns which direction the robot was moving when an interference was predicted during interference
check.
This function is only available for certain models. For details, refer to
ance function".
[Format]
Example) <Position Variable>=P_CavDir[(<Mechanism No>)]
[Terminology]
<Position Variable> Specifies a position variable to be assigned.
<Mechanism No.> Enter the mechanism number, 1 to 3. If the argument is omitted, 1 is set.
[Reference Program]
Refer to.Page 543, "5.24.10 Sample programs"
[Explanation]
(1) Use this command to check the robot's moving direction in automatic restoration after an interference
check.
(2) The robot's moving direction when an interference is predicted is indicated in a ratio, which assuming the
maximum locomotive axis value as +/-1.0.
Example) When the robot is being operated at the ratio of (X-axis direction : Y-axis direction) = (2 : -1)
P_CavDir=(1,-0.5,0,0,0,0)(0,0)
(3) The posture axis and structural flag are always (*.*.*.0,0,0,0,0)(0,0). (* is an arbitrary value.)
(4) A value is calculated when an interference is predicted, and then that value is retained until the next
interference is predicted.
(5) If an interference is predicted because of another robot moving while the own robot is in stop, all axes
are set to 0.0.
(6) Because this variable calculates the operation direction based on the target position of an operation
instruction, all elements may be set to 0.0 if an interference occurs at a position near the target position.
(7) This is read only.
(8) For robots that prohibit the use of interference check, 0.0 is always returned for all axes.
(9) Units of the read-enabled values are the same with the ones of P_ColDir.
Page 523, "5.24 Interference avoid-
Detailed explanation of Robot Status Variable 4-383
4MELFA-BASIC V