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4MELFA-BASIC IV
P_ColDir
[Function]
Return the operation direction of the robot when an impact is detected.
The impact detection function can only be used in certain models (Refer to "[Available robot type]".).
[Format]
Example)<Position Variables>=P_ColDir [(<Mechanism Number>)]
[Terminology]
<Position Variables>
<Mechanism Number>
[Reference Program]
Refer to
Page 174, "
[Explanation]
(1) This is used to verify the operation direction of the robot in automatic restoration operation after impact
detection.
(2) The operation direction of the robot at the very moment of impact detection is expressed as a ratio using
the maximum travel axis as ± 1.0. Example: If the robot was being operated at a ratio of (X-axis direc-
tion:Y-axis direction) = (2:-1)...P_ColDir = (1,-0.5,0,0,0,0)(0,0)
(3) The posture axis and structural flag are always (*.*.*.0,0,0,0,0)(0,0).
(4) A value is calculated when an impact is detected, and then that value is retained until the next impact is
detected.
(5) If an impact is detected when an external object hits the robot in the stationary state, all axes are set to
0.0.
(6) Because this variable calculates the operation direction based on the target position of an operation
instruction, all elements may be set to 0.0 if an impact occurs at a position near the target position.
(7) This is read only.
(8) For robots that prohibit the use of impact detection, 0.0 is always returned for all axes.
[Reference]
ColChk (Col Check), ColLvl (Col Level), M_ColSts, J_ColMxl
[Available robot type]
RV-6SD/6SDL/12SD/12SDL series
4-303 Detailed explanation of Robot Status Variable
Specifies the position variable to assign.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
[Reference Program 2]" for "ColChk (Col Check)".
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