Mitsubishi MELFA CR1D Instruction Manual page 420

5Functions set with parameters
*Program example
This program moves the robot to a retreat position by interrupt processing if an interference is detected.
10 Def Act 1,M_ColSts(1)=1 GoTo *HOME,S
20 Act 1=1
30 COLLVL 80,120,120,100,80,80,,
40 ColChk ON,NOERR
50 Mov P1
60 Mov P2
70 Mov P3
80 Mov P4
90 ColChk OFF
100 Act 1=0
.
.
1000 *HOME
1010 ColChk OFF
1020 Servo On
1030 PESC=P_ColDir(1)*(-5)
1040 PDst=P_Fbc(1)+PESC
1050 Mvs PDst
1060 Error 9100
.
.
3) Supplement
*Distinction between jog operation and program operation
The robot operation speed and tasks are quite different at jog operation and program operation. The set-
tings for these operations are thus made independently in order to optimize the impact detection function for
each type of operation. Here, the terms "at jog operation" and "at program operation" refer to the following.
At jog operation:
At program operation:
When these operations are executed, the status switches as shown in
During automatic operation
During step feed/return operation
During position data check operation
Fig.5-9:State transition diagram illustrating switch between program operation and jog operation
Thus, if the impact detection function at jog operation is enabled, for example, then even if the impact detec-
tion is set to be disabled in program operation, the setting is switched to that at jog operation if the stop but-
ton is pressed to pause the operation and the impact detection is enabled.
*Impact detection function while servo off
The impact detection function is temporarily disabled while the servo is turned off at both jog operation and
program operation.
5-407 About the impact detection function
During jog operation or during pause of automatic operation
During automatic operation, during step feed/
return operation or during position data check operation
Impact detection function
Power on
at jog operation
Operation start
Step feed/return
Position data check
Impact detection function
at program operation
' Define processing to be executed if an interference is detected
by interruption.
' Set the detection level.
' Enable the impact detection function in the NOERR mode.
' Jump to the interrupt processing if an interference is detected
while executing step 50 to 80.
' Disable the impact detection function.
' Interrupt processing when an interference is detected
'Disable the impact detection function.
' Turn the servo on.
' Calculate the retreat amount (reverse operation of approxi-
mately 5 mm).
' Create a retreat position.
' Move to the retreat position.
' Pause the operation by generating user-defined L-level error.
Fig.
During jog operation
During pause of automatic operation
End of operation
Stop input
H/L level errors occur
5-9.