Enabling And Disabling The Interference Avoidance Function - Mitsubishi Electric CR750-Q Instruction Manual

5.24.8 Enabling and disabling the interference avoidance function

Whether to enable/disable the interference avoidance function in general, and whether to enable/disable it
during program execution and jog operation can be set by setting the parameter: CAV.
Details of the parameter are given in
Table 5-41:Interference avoidance function enable/disable setting parameter
Parameter
Parameter
Interference CAV
avoidance func-
tion
5.24.9 Using the interference avoidance function
The interference avoidance operation during jog operation and program execution is explained below. Set
the 1st element of parameter:
interference avoidance
(1) Interference avoidance during jog operation
When the 3rd element of parameter:
can be used during jog operation.
When interference is detected, the robot decelerates to a stop and performs the following operation accord-
ing to the parameter's setting value.
Setting value = 1: Alarm (L241n) occurs. The alarm must be reset to resume jog operation.
Setting value = 2: A buzzer sounds. The robot can be jogged in the direction where there is no interfer-
Temporarily canceling the interference avoidance function
Press the [CLEAR] key on T/B to temporary cancel the interference avoidance function for the simu-
lated components. It can be temporarily canceled by setting "0" (temporarily disable) to the second
element of the simulated component enable/disable setting parameters:
CAVSCH to 8
Every time the [CLEAR] key is pressed, the status switches between Enable and Disable. "CAV" is
displayed at the bottom center of the T/B screen when set to Enable.
<CURRENT> JOINT
J1: 0.00
J2: 0.00
J3: 90.03
J4: 0.00
TOOL
XYZ
If the robot cannot be restarted from an interference state by [CLEAR] key (if the operator manually
puts the robot into the interference area during servo OFF, etc.), carry out
to Temporarily Reset an Error that Cannot Be Canceled"
The interference avoidance function can be temporarily canceled and the robot can be moved.
Note) The robot will not stop at the movement range limit when using this operation. Do not
move in the direction outside of the movement range.
Table
No. of arrays
name No. of characters
Integer 1
CAV to "1" (Enable). (Refer to
function".)
CAV is set to Enable ("1" or "2"), the interference avoidance function
ence.
(hand) and CAVSCW1 to 8
100% P1 B1
J5: 0.00
J6: 0.00
:
:
CAV
⇒
123 3-XYZ CYLNDR
5-41.
Details explanation
Set whether to enable or disable the interference
avoidance function in general.
When set to enable, additionally set to enable/disable
the interference avoidance function during program
execution, and enable (including movement during
interference)/disable the function during jog operation.
1st element: Use of the interference avoidance function
(0: Disabled/1: Enabled)
2nd element: Initial state at program execution
(0: Disabled/1: Enabled)
3rd element: Disable/enable setting for jog operation
(0: Disabled, 1: Enabled with error
occurrence, 2: Enabled with only buzzer
sound)
Page 541, "5.24.8 Enabling and disabling the
(workpiece).
Enable = "CAV" displayed
Disable = Blank
(jog operation while [RESET] is pressed).
5Functions set with parameters
Factory setting
0, 1, 1
CAVSCA1 to 8
Page 61, "3.11 Operation
Interference avoidance function 6-541
(robot arm),