Impact Detection During Jog Operation - Mitsubishi MELFA CR1D Instruction Manual

3.2.9 Impact Detection during Jog Operation

This function can be enabled and disabled with a parameter. If the controller detects an impact, an error
numbered 101n will be generated (the least significant digit, n, is the axis number). This function can also be
enabled during jog operation; initial setting differs depending on the type.
Table 3-3:Impact detection parameters
Parameter Name
Impact COL
Note1)
detection
Detection level COLLVLJG
during jog
operation
Hand HNDDAT0 Real value 7 Set the initial condition of the hand. (Specify with the tool coordinate sys-
condition
Workpiece WRKDAT0 Real value 7 Set the initial condition of the workpiece. (Specify with the tool coordinate
condition
Note1)This function cannot be used together with the multi-mechanism control function.
No. of
elements
Integer 3 Define whether the impact detection function can/cannot be used, and
whether it is enabled/disabled immediately after power ON.
Element 1: The impact detection function can (1)/cannot (0) be used.
Element 2: It is enabled (1)/disabled (0) as the initial state during operation.
Element 3: Enable (1)/disable (0)/NOERR mode (2) during jog operation
The NOERR mode does not issue an error even if impact is detected. It
only turns off the servo. Use the NOERR mode if it is difficult to operate
because of frequently occurring errors when an impact is detected.
The specification depends on the settings for jog operation (element 3) in
cases other than program operation (including position jump and step
feed).
Integer 8 Set the detection level (sensitivity) during jog operation (including pause
status) for each joint axis. Unit: %
Make the setting value smaller to increase the detection level (sensitivity).
If an impact error occurs even when no impact occurs during jog operation,
increase a numeric value.
Setting range: 1 to 500 (%)
tem.)
Immediately after power ON, this set value is used during jog operation.
To use the impact detection function during jog operation, set the actual
hand condition before using. If it is not set, erroneous detection may occur.
(Weight, size X, size Y, size Z, center of gravity X, center of gravity Y, cen-
ter of gravity Z)
Unit: Kg, mm
system.)
Immediately after power ON, this setting value is used during jog opera-
tion.
(Weight, size X, size Y, size Z, center of gravity X, center of gravity Y, cen-
ter of gravity Z)
Unit: Kg, mm
3Explanation of operation methods
Description Initial value
RV-SQ/SD
series
0,0,1
The standard is
200,200,200,20
0,200,200,200,
200, but it var-
ies with models.
The value may
vary with mod-
els. The maxi-
mum load is set
as the load.
<Example of
RV-3SD>
3.5,284.0,284.0
,286.0,0.0,0.0,7
5.0
It is only
released with
the RV-SD and
RH-SDH series.
0.0,0.0,0.0,0.0,
0.0,0.0,0.0
Jog Feed (Overview) 3-24