Mitsubishi Electric CR750-Q Instruction Manual page 214

4MELFA-BASIC V
[Explanation]
(1) The collision detection function estimates the amount of torque that will be applied to the axes during
movement executed by a Move instruction. It determines that there has been an collision if the difference
between the estimated torque and the actual torque exceeds the tolerance, and immediately stops the
robot.
Torque
トルク
Detection level + side
検知レベル+側
Detection level - side
検知レベル-側
(2) Immediately after power ON, the collision detection function is disabled. Enable the Col parameter
before using. This instruction specifies whether to enable or disable the collision detection function dur-
ing program operation (including step feed and step jump). The enable/disable status when no program
is executed, such as pause status and during jog operation, depends on the setting of element 3 of the
Col parameter.
(3) The detection level can be adjusted by a ColLvl instruction. The initial value of the detection level is the
setting value of the ColLvl parameter.
(4) After the collision detection function is enabled by this instruction, that state is maintained continuously
until it is disabled by the ColChk Off instruction, the program is reset, an End instruction is executed or
the power is turned OFF.
(5) Even if the collision detection function is disabled by this instruction, the collision detection level set by a
ColLvl instruction is retained.
(6) When the continuity function is enabled, the previous collision detection setting state is restored at next
power ON even if the power is turned OFF.
(7) Error 3950 occurs if an interrupt by the M_ColSts status variable (an interrupt with the interrupt condition
of M_ColSts(*)=1 and * denotes a machine number) is not enabled when specifying NOErr (error non-
occurrence mode). See [Syntax Example 2]. Error 3960 also occurs if this interrupt processing is
disabled while in the error non-occurrence mode.
(8) If an collision is detected while in the error non-occurrence mode, the robot turns OFF the servo and
stops. Therefore, no error occurs and operation also continues. However, it is recorded in the error log
that an collision was detected. (The recording into the log is done only if no other errors occur
simultaneously.)
(9) If an attempt is made to execute ColChk On and ColChk On,NOErr on a robot that cannot use the colli-
sion detection function, low level error 3970 occurs. In the case of ColChk Off, neither error occurs nor
processing is performed.
(10) The collision detection function cannot be enabled while compliance is being enabled by a Cmp
instruction or the torque limit is being enabled by a Torq instruction. In this case, error 3940 will occur if
an attempt is made to enable the collision detection function. Conversely, error 3930 will occur if an
attempt is made to enable a Cmp or Torq instruction while collision detection is being enabled.
(11) If ColChk Off is described immediately after an operation instruction, collision detection may not work
near the last stop position of a given operation. As shown in reference program 1, execute ColChk Off
upon completion of positioning by a Dly or Fine instruction between an operation instruction and a Col-
Chk Off instruction.
(12) The collision detection function may not work properly if the hand weight (HNDDATn parameter) and
workpiece weight (WRKDATn parameter) are not set correctly. Be sure to set these parameters correctly
before using.
4-194 Detailed explanation of command words
Detects an collision (at 100%) 衝突を検知(100%時)
Detects an collision (at 60%) 衝突を検知(60%時)
Actual torque
実際のトルク
Detection level (ColLvl) is 100%
検知レベル(ColLvl)が100%の場合
Detection level (ColLvl) is 60%
検知レベル(ColLvl)が60%の場合
Estimated torque
推定トルク
Detection level (ColLvl) is 60%
検知レベル(ColLvl)が60%の場合
Detection level (ColLvl) is 100%
検知レベル(ColLvl)が100%の場合
時間