Mitsubishi Electric CR750-Q Instruction Manual page 537

ring to Page 61, "3.11 Operation to Temporarily Reset an Error that Cannot Be Canceled"
there is no interference.
*Method for disabling collision detection temporarily during jog operation
Perform servo-on and jog operation while holding down the [RESET] key on the TB. Collision detection is
disabled as long as the key is pressed.
2)How to use the function at program operation
The initial state of the collision detection function at program operation is specified by a parameter. In prac-
tice, however, the function is used by changing the setting in a program using a MELFA-BASIC V instruc-
tion. The parameters for setting the initial state and instructions related to the collision detection function are
shown in the table below. Refer to
"4.14 Detailed explanation of Robot Status Variable"
Table 5-22:Parameters to be set for the collision detection function at program operation.
Prameter
name
COL Define whether to enable or disable the collision detection function as well as
whether it is valid or invalid immediately after turning the power supply on.
Element 1: Enables (1) the collision detection function (enable (1)/disable (0))
Element 2: Set enable (1) as the initial state of the collision detection function
COLLVL Set the detection level (sensitivity) of each joint axis at jog operation (including
pause status).
HNDDAT* Set the hand conditions (via tool coordinates).
* is 1 to 8
WRKDAT* Set the workpiece conditions (via tool coordinates).
* is 1 to 8
HNDHOLD* Specify whether to grab (1) or not grab (0) workpieces when the HOpen and
* is 1 to 8 HClose instructions are executed.
Table 5-23:MELFA-BASIC V commands and status variables used in the collision detection function at
program operation
Command/
Status variable
ColChk Enables or disables the collision detection function or specifies the NOERR mode.
Example: ColChk ON
ColLvl Specifies the detection level (sensitivity) of the collision detection function for each joint axis. This
value is a scaling factor that amplifies the detection level standard value prescribed in the collision
detection function (unit: %).
Example: ColLvl 80, 120, 120, 120, 50, 80,
LoadSet Specifies the hand and workpiece conditions. Use this instruction when the hand to be used or
workpieces to be grabbed are changed during program operation.
Example: LoadSet 1, 0
J_ColMxl Returns the maximum difference value between the estimated torque and actual torque by convert-
ing it to the detection level. It is referenced when adjusting the arguments of the ColLvl command
(unit: %).
M_ColSts Returns 1 when an interference is detected. It is used as interrupt condition in the NOERR mode.
P_ColDir Returns the robot operation direction (operation ratios in the X, Y and Z directions) when an interfer-
ence is detected. It is used in retreat operation in the NOERR mode.
Page 168, "4.13 Detailed explanation of command words"
Description and value
at program operation (enable (1)/disable (0)).
'Enable the collision detection function.
'Specify conditions of the HNDDAT1 and WRKDAT0 parameters.
for the detailed explanation of the instructions.
Description
'Specify the detection levels of axes J1 to J6.
About the collision detection function 5-517
5Functions set with parameters
to ensure that
and Page 311,
Setting value at
shipment
RH-3FH/6FH/
12FH/20FH series:
1,0,1
RV-F series:
0,0,1
RH-3FHR series:
1,1,1
The setting varies
depending on the
model.
The setting varies
depending on the
model.
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0
0,1