Mitsubishi Electric CR750-Q Instruction Manual page 339

Sample program
'********** Collision detection level automatic setup **********
'GoSub *LEVEL ' Collision detection level automatic setting
program
'HLT
'*******************************************************************
*MAIN
Oadl ON
LoadSet 2,2
Collvl M_01,M_02,M_03,M_04,M_05,M_06,,
Mov PHOME
Mov P1
Dly 0.5
ColChk ON
Mvs P2
Dly 0.5
ColChk OFF
Mov PHOME
End
'************************** LEVEL FIX ***************************
*LEVEL
Mov PHOME
M1=0 ' Collision detection level of the J1 axis (initialization)
M2=0 ' Collision detection level of the J2 axis (initialization)
M3=0 ' Collision detection level of the J3 axis (initialization)
M4=0 ' Collision detection level of the J4 axis (initialization)
M5=0 ' Collision detection level of the J5 axis (initialization)
M6=0 ' Collision detection level of the J6 axis (initialization)
ColLvl 500,500,500,500,500,500,,
' Set the collision detection level to 500%
For MCHK=1 To 10
Dly 0.3
Mov P1
Dly 0.3
Colhk ON 'Enable the collision detection.
Mvs P2
Dly 0.3
ColChk OFF 'Disable the collision detection.
If M1<J_ColMxl(1).J1 Then M1=J_ColMxl(1).J1
If M2<J_ColMxl(1).J2 Then M2=J_ColMxl(1).J2
If M3<J_ColMxl(1).J3 Then M3=J_ColMxl(1).J3
If M4<J_ColMxl(1).J4 Then M4=J_ColMxl(1).J4
If M5<J_ColMxl(1).J5 Then M5=J_ColMxl(1).J5
If M6<J_ColMxl(1).J6 Then M6=J_ColMxl(1).J6
Next MCHK
M_01=M1+10
M_02=M2+10
M_03=M3+10
M_04=M4+10
M_05=M5+10
M_06=M6+10
ColLvl M_01,M_02,M_03,M_04,M_05,M_06,,
Mvs P1
Mov PHOME
RETURN
'*******************************************************************
Is the command which executes the collision detection level
automatic setting subroutine. Remove the comment out of the head
when set up automatically.
Moves in the optimal acceleration and deceleration.
Reads the information on the hand and the work-piece. (For the
system optimization of the acceleration-and-deceleration hours)
Re-set up the collision detection level.
Moves to PHOME (standby position).
Moves to P1 (starting position).
Enable the collision detection.
Disable the collision detection.
Return to PHOME (standby point)
End of program line.
The collision detection level automatic setting subroutine.
Set the collision detection level to 500% (maximum value).
(Before starting movement, confirms that there is no obstacle on the
course)
Although the collision detection level is automatically detectable,
please execute two or more times in consideration of the dispersion
etc. The ten of repeat number in the sample is reference values.
J_COLMXL is the maximum value of differences between the
estimated torque and actual torque while the collision detection
function is being enabled.
Memorizes the maximum values in the ten times measured for
consideration of the dispersion.
Usually, as for the detection level, the value of the parameter "ColLvl"
will be set up after the power supply ON. Therefore, the value set up
automatically should be recorded on external variable.
"10" is added with the sample, because 10% of circular land is given
for the value searched for by automatic detection.
* 10% is the reference value.
Depending on the system to be used, it may not operate normally.
Please confirm with the system and adjust to the optimal value.
Refer to "ColLvl (Col Level)"
Detailed explanation of Robot Status Variable 4-319
4MELFA-BASIC V
Explanations
for details.