Mitsubishi MELFA CR1D Instruction Manual page 190

4MELFA-BASIC IV
ColLvl (Col Level)
[Function]
Set the detection level of the impact detection function in automatic operation.
The impact detection function can only be used in certain models (Refer to "[Available robot type]".).
[Format]
ColLvl[] [<J1 axis>],[<J2 axis>],[<J3 axis>],[<J4 axis>],[<J5 axis>],[<J6 axis>],,
[Terminology]
<J1 to J6 axis>
[Reference Program]
1 ColLvl 80,80,80,80,80,80,,
2 ColChk On
3 Mov P1
4 ColLvl ,50,50,,,,,
5 Mov P2
6 Dly 0.2
7 ColChk Off
8 Mov P3
[Explanation]
(1) Set the allowable level of each axis for the impact detection function during program operation.
(2) This instruction affects the impact detection function in automatic operations (including step feed and
step jump operations). If a program is not running (pause status or during jog operation), the setting level
of the ColLvlJG parameter is used.
(3) Normally, the setting value of the allowable level immediately after power ON is the setting value of the
ColLvl parameter.
(4) "All axes 100%" is set as the initial value of the ColLvl parameter.
(5) If this value is increased, the detection level (sensitivity) lowers; if this value is lowered, the detection
level increases.
(6) If the detection level is increased, the probability of erroneous detection becomes high. Adjust the level
such that it does not become too high. Depending on the posture and operation speed, erroneous
detection may also occur with the initial value. In this case, the detection level should be lowered.
(7) The impact detection function may not work properly if the hand weight (HNDDATn parameter) and
workpiece weight (WRKDATn parameter) are not set correctly. Be sure to set these parameters correctly
before using.
(8) When the continuity function is enabled, the previously set value is restored at next power ON even if the
power is turned OFF.
(9) The allowable level is reset to the setting value of the ColLvl parameter when a program reset or an End
instruction is executed.
(10) Even if an attempt is made to execute this instruction on robots that cannot use the impact detection
function, the instruction is ignored and thus no error occurs.
(11) The impact detection function is not valid for the J7 and J8 axes.
(12) The correct setting value may vary even among robots of the same type due to individual differences of
units. Check the operation with each robot.
[Related instructions and variables]
ColChk (Col Check), M_ColSts, J_ColMxl, P_ColDir
[Related parameter]
COL,COLLVL, HNDDATn, WRKDATn
[Available robot type]
RV-6SD/6SDL/12SD/12SDL series
4-177 Detailed explanation of command words
Specify the detection level in a range between 1 and 500%.
If omitted, the previously set value is retained.
This instruction is invalid for the J7 and J8 axes.
The initial value is the setting value of the ColLvl parameter.
'Specify the allowable level for impact detection.
'Enable the impact detection function.
'Change the allowable level of the J2 and J3 axes for impact detection.
'After arriving at P2, disable impact detection.
'Disable the impact detection function.