Mitsubishi Electric CR750-Q Instruction Manual page 216

4MELFA-BASIC V
ColLvl (Col Level)
[Function]
Set the detection level of the collision detection function in automatic operation.
[Format]
ColLvl[] [<J1 axis>],[<J2 axis>],[<J3 axis>],[<J4 axis>],[<J5 axis>],[<J6 axis>],,
[Terminology]
<J1 to J6 axis>
[Reference Program]
1 ColLvl 80,80,80,80,80,80,,
2 ColChk On
3 Mov P1
4 ColLvl ,50,50,,,,,
5 Mov P2
6 Dly 0.2
7 ColChk Off
8 Mov P3
[Explanation]
(1) Set the allowable level of each axis for the collision detection function during program operation.
(2) This instruction affects the collision detection function in automatic operations (including step feed and
step jump operations). If a program is not running (pause status or during jog operation), the setting level
of the ColLvlJG parameter is used.
(3) Normally, the setting value of the allowable level immediately after power ON is the setting value of the
ColLvl parameter. The initial value of parameter differ by each type.
(4) If this value is increased, the detection level (sensitivity) lowers; if this value is lowered, the detection
level increases.
(5) If the detection level is increased, the probability of erroneous detection becomes high. Adjust the level
such that it does not become too high. Depending on the posture and operation speed, erroneous
detection may also occur with the initial value. In this case, the detection level should be lowered.
(6) When using the controller software version R6b/S6b or later and RT ToolBox2 Ver.3.40S or later, it is
possible to choose "Ref. value of COL level"(reference value of the collision detection level) for the
oscillograph function of RT ToolBox2. This function can be easy to adjust the detection level of ColLvl
instruction. Refer to
(7) 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.
(8) When the continuity function is enabled, the previously set value is restored at next power ON even if the
power is turned OFF.
(9) The allowable level is reset to the setting value of the COLLVL parameter when a program reset or an
End instruction is executed.
(10) Even if an attempt is made to execute this instruction on robots that cannot use the collision detection
function, the instruction is ignored and thus no error occurs.
(11) The collision detection function is not valid for the J7 and J8 axes.
(12) The correct setting value may vary even among robots of the same type due to individual differences of
units. Check the operation with each robot.
[Related variables]
M_ColSts, J_ColMxl, P_ColDir
[Related instructions and variables]
ColChk (Col Check)
4-196 Detailed explanation of command words
Specify the detection level in a range between 1 and 500%.
If omitted, the previously set value is retained.
This instruction is invalid for the J7 and J8 axes.
The initial value is the setting value of the COLLVL parameter.
'Specify the allowable level for collision detection.
'Enable the collision detection function.
'Change the allowable level of the J2 and J3 axes for collision detection.
'After arriving at P2, disable collision detection.
'Disable the collision detection function.
Page 514, "5.21 About the collision detection function" for details.