Mitsubishi Electric CR750-Q Instruction Manual page 337

J_ColMxl
[Function]
Return the maximum value of the differences between the estimated torque and actual torque while the col-
lision detection function is being enabled.
[Format]
Example) <Joint Type Variable>=J_ColMxl [(<Mechanism Number>)]
[Terminology]
<Joint Type Variable>
<Mechanism Number>
[Reference Program]
1 M1=100
2 M2=100
3 M3=100
4 M4=100
5 M5=100
6 M6=100
7 ColLvl M1,M2,M3,M4,M5,M6,,
8 ColChk On
9 Mov P1
:
:
50 ColChk Off
51 M1=J_ColMxl(1).J1+10
52 M2=J_ColMxl(1).J2+10
53 M3=J_ColMxl(1).J3+10
54 M4=J_ColMxl(1).J4+10
55 M5=J_ColMxl(1).J5+10
56 M6=J_ColMxl(1).J6+10
57 GoTo 70
Specify a joint type variable to be assigned.(Joint type variable will be used
even if this is a pulse value.)
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
'Set the initial value of the allowable collision level of each axis.
'Set the allowable collision level of each axis.
'Enable the collision detection function.
(Start the calculation of the maximum value of torque error.)
'Disable the collision detection function.
(End the calculation of the maximum value of torque error.)
'For each axis, the allowable collision level with a margin of 10%
is calculated.
(10% is a reference value for the reference program and not an
actual guaranteed value.)
Detailed explanation of Robot Status Variable 4-317
4MELFA-BASIC V