Mitsubishi MELFA CR1D Instruction Manual page 188

4MELFA-BASIC IV
[Explanation]
(1) The impact detection function estimates the amount of torque that will be applied to the axes during
movement executed by a Move instruction. It determines that there has been an impact if the difference
between the estimated torque and the actual torque exceeds the tolerance, and immediately stops the
robot.
Torque
Detection level + side
Detection level -side
(2) Immediately after power ON, the impact detection function is disabled. Enable the Col parameter before
using. This instruction specifies whether to enable or disable the impact detection function during pro-
gram operation (including step feed and step jump). The enable/disable status when no program is exe-
cuted, such as pause status and during jog operation, depends on the setting of element 3 of the Col
parameter.
(3) The detection level can be adjusted by a ColLvl instruction. The initial value of the detection level is the
setting value of the ColLvl parameter.
(4) After the impact detection function is enabled by this instruction, that state is maintained continuously
until it is disabled by the ColChk Off instruction, the program is reset, an End instruction is executed or
the power is turned OFF.
(5) Even if the impact detection function is disabled by this instruction, the impact detection level set by a
ColLvl instruction is retained.
(6) When the continuity function is enabled, the previous impact detection setting state is restored at next
power ON even if the power is turned OFF.
(7) Error 3950 occurs if an interrupt by the M_ColSts status variable (an interrupt with the interrupt condition
of M_ColSts(*)=1 and * denotes a machine number) is not enabled when specifying NOErr (error non-
occurrence mode). See [Syntax Example 2]. Error 3960 also occurs if this interrupt processing is
disabled while in the error non-occurrence mode.
(8) If an impact is detected while in the error non-occurrence mode, the robot turns OFF the servo and
stops. Therefore, no error occurs and operation also continues. However, it is recorded in the error log
that an impact was detected. (The recording into the log is done only if no other errors occur
simultaneously.)
(9) If an attempt is made to execute ColChk On and ColChk On,NOErr on a robot that cannot use the impact
detection function, low level error 3970 occurs. In the case of ColChk Off, neither error occurs nor
processing is performed.
(10) The impact detection function cannot be enabled while compliance is being enabled by a Cmp
instruction or the torque limit is being enabled by a Torq instruction. In this case, error 3940 will occur if
an attempt is made to enable the impact detection function. Conversely, error 3930 will occur if an
attempt is made to enable a Cmp or Torq instruction while impact detection is being enabled.
(11) If ColChk Off is described immediately after an operation instruction, impact detection may not work
near the last stop position of a given operation. As shown in syntax example 1, execute ColChk Off upon
completion of positioning by a Dly or Fine instruction between an operation instruction and a ColChk Off
instruction.
4-175 Detailed explanation of command words
Detects an impact (at 100%).
Detects an impact (at 60%).
Actual torque
100% (manufacturer's initial
value + side)
60%(COLLVL 60,60,...after
execution)
Estimated torque
60%
100% (manufacturer's initial
value - side)
Time