Interference Alarm Area And Interference Warning Area - Mitsubishi Electric M800VW Series Programming Manual

M800V/M80V Series PLC Programming Manual (2/2)
14 PLC Help Function
14.18 Interference Check III

14.18.3 Interference Alarm Area and Interference Warning Area

Set an area where interference must be avoided surely (interference alarm area), and an area where interference should be
mitigated (interference warning area) for each solid.
(Set the areas in the configured solid specification of interfering object definition and interfering object specification of
interfering object selection, which are described later.)
Situation when the interference alarm occurred
The entry of an interfering object into the interference alarm area is detected
while the interference check III mode is enabled, the axis will stop just before the
entry.
An interfering object has already entered the interference alarm area when the
interference check III mode is enabled.
An interfering object, which is enabled by the "Interference check III: Enable in-
terfering object selection data" signal (Y769), has already entered the interfer-
ence alarm area while the interference check III mode is valid.
An interfering object, which is enabled by the enable interference check III setting
data command (G186), has already entered the interference alarm area while
the interference check III is valid.
An object enters the interference warning area while the interference check III
mode is enabled. (*4)
An interfering object has already entered the interference warning area when the
interference check III mode is enabled.
(*1) This alarm is output to the part systems which control the axes set in the interfering object definition "interfering object
IJK control axes" and "IJK rotary axes".
(*2) For all axes which belong to the part systems in which this alarm is output, the axis exchange cannot be performed.
If the mixed control command (G110) is given, the operation error (M01 1035) is output, and if the arbitrary axis
exchange command (G140) is given, the operation error (M01 1101) is output.
(*3) The relative relation between interfering objects is being checked during the occurrence of this alarm as well.
If the axis travel command (manual operation/automatic operation) is given during the occurrence of this alarm, the
alarm is canceled and the axis moves unless the entry to the interference alarm area is detected.
(*4) In the case an interfering object enters the interference warning area while the interference check III mode is enabled,
the feedrate is automatically clamped and the torque is limited to mitigate an impact of the clash. These actions taken
when the interfering object enters the interference warning area are specified using the following parameters.
The action when the interfering object enters the interference warn-
The torque is limited or not.
Whether the feedrate is automatically clamped for all the axes in all the
part systems or only for the part system related to the interference warn-
ing.
Feedrate clamp
(For an axis in which the setting value of feedrate clamp parameter is "0",
speed clamp is not performed.)
(*5) While the operation error (M03 0001) is being generated, data for interfering object selection cannot be modified.
ing area
Operation error No.
（M03 0001）
(*1) (*2) (*3) (*5)
（M03 2002）
(*1) (*2)
（M03 2003）
(*1) (*2)
Parameter setting
Axis specification parameter
"#2661 ITF3_ILMT"
Base common parameter
"#1487 ITF3_ Spec"
Axis specification parameter
"#2662 ITF3_Clamp"
663
Resister where the
setting error informa-
tion is output
R139, R672 ,R673
R140, R674, R675
R138, R670, R671
IB-1501668-B