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M_ColSts
[Function]
Return the impact detection status..
1: Detecting an impact
0: No impact has been detected
The impact detection function can only be used in certain models (Refer to "[Available robot type]".).
[Format]
Example) Def Act 1, M_ColSts [(<Mechanism Number>)]=1 GoTo *LCOL,S
[Terminology]
<Mechanism Number>
[Reference Program]
1 Def Act 1,M_ColSts(1)=1 GoTo *HOME,S
2 Act 1=1
3 ColChk ON,NOERR
4 Mov P1
5 Mov P2
6 Mov P3
7 Mov P4
8 Act 1=0
:
:
100 *HOME
101 ColChk Off
102 Servo On
103 PESC=P_ColDir(1)*(-2)
104 PDst=P_Fbc(1)+PESC
105 Mvs PDst
106 Error 9100
[Explanation]
(1) When an impact is detected, it is set to 1. When the servo is turned off and the impact state is canceled,
it is set to 0.
(2) It is used as an interrupt condition in the Def Act instruction when used in the NOERR mode.
(3) This variable only reads the data.
[Available robot type]
RV-6SD/6SDL/12SD/12SDL series
Specify the mechanism number 1 to 3. The default value is 1.
'Define the processing to be executed when an impact is
'Enable the impact detection function in the error non-occurrence mode.
'If an impact is detected while executing lines 40 through 70, it jumps to
interrupt processing.
'Interrupt processing during impact detection.
'Disable the impact detection function.
'Turn the servo on.
'Create the amount of movement for escape operation
'Create the escape position.
'Move to the escape position.
'Stop operation by generating a user-defined L level error.
detected using an interrupt.
Detailed explanation of Robot Status Variable 4-276
4MELFA-BASIC IV
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