Mitsubishi Electric CR750-Q Instruction Manual page 540

5Functions set with parameters
Thus, if the collision detection function at jog operation is enabled, for example, then even if the collision
detection is set to be disabled in program operation, the setting is switched to that at jog operation if the stop
button is pressed to pause the operation and the collision detection is enabled.
*Collision detection function while servo off
The collision detection function is temporarily disabled while the servo is turned off at both jog operation and
program operation.
*About "Ref. value of COL level" of the oscillograph function
When using the controller software version R6b/S6b or later and RT ToolBox2 Ver.3.40S or later, it is possi-
ble to choose "Ref. value of COL level" (reference value of the collision detection level) for the oscillograph
function of RT ToolBox2.
"Ref. value of COL level" expressed the difference between the estimated torque and the actual torque in
the collision detection level (set value of ColLvl command and COLLVL, COLLVLJG parameters), it will be
an indication when deciding the set value.
Fig.5-12:Oscillograph screen of "Ref. value of COL level"
As shown in Fig.
detection level is output by real time to the oscillograph. This value is consulted and the collision detection
level is set to the movement which makes the collision detection effective.
An example of adjustment procedure is shown below. Be sure to set the workpiece condition and hand con-
dition properly as well in order to estimate the torque accurately.
Table 5-25:Example of the collision detection level adjustment procedure at program operation
Step
1 Add the ColLvl and ColChk commands before and after operations for which the collision detection function
is used.
2 Set the detection level low (the argument of the ColLvl command is set to a large value such as 300) in
order to prevent erroneous detection of interference.
3 Run the program and monitor the value of "Ref. value of COL level" of the oscillograph function in the target
operation. Note that the value may fluctuate; repeat the target operation several times and record the max-
imum value for each joint axis.
5-520 About the collision detection function
5-12, when the collision detection function is effective and servo power is on, the collision
Description