Mitsubishi Electric CR750-Q Instruction Manual page 404

4MELFA-BASIC V
P_ColDir
[Function]
Return the operation direction of the robot when an collision is detected.
[Format]
Example)<Position Variables>=P_ColDir [(<Mechanism Number>)]
[Terminology]
<Position Variables>
<Mechanism Number>
[Reference Program]
Refer to Page 193, "[Reference Program 2]"
[Explanation]
(1) This is used to verify the operation direction of the robot in automatic restoration operation after collision
detection.
(2) The operation direction of the robot at the very moment of collision detection is expressed as a ratio
using the maximum travel axis as ±1.0. Example: If the robot was being operated at a ratio of (X-axis
direction:Y-axis direction) = (2:-1)...P_ColDir = (1,-0.5,0,0,0,0)(0,0)
(3) The posture axis and structural flag are always (*.*.*.0,0,0,0,0)(0,0).
(4) A value is calculated when an collision is detected, and then that value is retained until the next collision
is detected.
(5) If an collision is detected when an external object hits the robot in the stationary state, all axes are set to
0.0.
(6) Because this variable calculates the operation direction based on the target position of an operation
instruction, all elements may be set to 0.0 if an collision occurs at a position near the target position.
(7) This is read only.
(8) For robots that prohibit the use of collision detection, 0.0 is always returned for all axes.
[Reference]
ColChk (Col Check), ColLvl (Col Level), M_ColSts, J_ColMxl
4-384 Detailed explanation of Robot Status Variable
Specifies the position variable to assign.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
for "ColChk (Col Check)".