Mitsubishi Electric CR750-Q Instruction Manual page 199

CavChk On (CavChk On)
[Function]
Activates the stop function of the interference avoidance function.
This function is only available for certain models. For details, refer to
ance function".
[Format]
CavChk[]<On/Off>[,<Robot CPU No>[,NOErr]]
[Terminology]
<On/Off>
<Robot CPU No.> Specifies the target robot CPU for the activation/deactivation of the interference avoidance.
NOErr
[Reference Program]
Refer to Page 543, "5.24.10 Sample
[Explanation]
(1) This command activates the stop function of the interference avoidance function. The parameter: CAV
setting determines the initial status of the interference avoidance function.
Activating the interference avoidance function while the function is set disabled by the parameter: CAV
will cause an alarm (L4930).
(2) If the robot CPU number is omitted, interference avoidance operation is performed for the avoidance-
function-enabled CPUs only.
(3) Specifying the robot CPU number of the robot CPU where the interference avoidance function is set dis-
abled will cause an alarm (L4930).
(4) Use the LoadSet command to specify hand and workpiece models.
(5) The interference avoidance function cannot be activated during tracking. (Alarm (L4936) would occur.)
On: Activates the stop function of the interference avoidance function.
Off: Deactivates the stop function of the interference avoidance function.
When this argument is omitted or 0 is specified, all connected robots are the target.
Specify as a value 0 to 3, constant, or variable.
And this argument functions in CR7xx-Q controller.
Disables the interference prediction alarm.
An alarm (L4931) would occur if this argument is omitted.
programs".
Page 523, "5.24 Interference avoid-
Detailed explanation of command words 4-179
4MELFA-BASIC V