How To Use The Collision Detection Function - Mitsubishi Electric CR750-Q Instruction Manual

5Functions set with parameters

(3) How to use the collision detection function

To use the collision detection function, first specify "Enable (1)" for element 1 of the COL parameter and turn
on the power supply to the control again. Next, make settings for the collision detection function (specify to
enable/disable the function and the detection level) for jog operation and program operation, respectively.
(Refer to Page 515, "Table 5-20: Parameters related to the collision detection function"
1) How to use the function during jog operation
During jog operation, all the settings for the collision detection function are made via parameters. For this
reason, if settings such as enabled/disabled are changed while the power supply to the controller is turned
on, the changes are not reflected until the power supply is turned on again the next time.
parameters used when setting the collision detection function for jog operation.
Table 5-21:Parameters set for the collision detection function used during jog operation
Prameter
name
COL Define whether to enable or disable the collision detection function as well as
whether it is valid or invalid immediately after turning the power supply on.
Element 1: Enables (1) the collision detection function (enable (1)/disable (0))
Element 3: Specify whether the function is enabled or disabled at jog operation.
COLLVLJG Set the detection level (sensitivity) of each joint axis at jog operation (including
pause status).
HNDDAT0 Set the hand conditions (via tool coordinates).
WRKDAT0 Set the workpiece conditions (via tool coordinates).
*Adjustment of collision detection level
The detection level (sensitivity) at jog operation is set relatively low. If a higher detection level is required,
use the COLLVLJG parameter to adjust the level. Be sure to set the HNDDAT0 and WRKDAT0 parameters
properly as well in order to estimate the torque accurately.
Point
If the detection level is set too high (the setting value is too small), interference may be detected errone-
ously depending on the robot position and posture. In such cases, lower the detection level (make the
setting value larger) before using.
When using the controller software version R6b/S6b or later and RT ToolBox2 Ver.3.40S or later, it is possi-
ble 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 COLLVLJG parameter.
Refer to Page 519, " 3) Supplement"
*Behavior when interference is detected
If an interference with peripheral devices or similar is detected during jog operation, an error numbered in
the 1010's (the least significant digit is the axis number) is generated and the robot is stopped as the servo
is turned off. If the robot is in the NOERR mode (2 is specified for element 3 of the COL parameter), no error
is generated, but the robot stops as the servo is turned off (an error numbered in the 1010's will be recorded
in the error history, however).
*Operation after interference
If the servo is turned on while a hand or arm is in contact with peripheral devices or similar, the collision is
detected again, which may prevent the servo from being turned on. If an error occurs repeatedly when
attempting to turn the servo on, move the arm by releasing the brake once or perform jog operation by refer-
5-516 About the collision detection function
Description and value
Enabled (1)/disabled (0)/NOERR mode (2)
for details.
as well.)
Table 5-21 lists
Setting value at
shipment
RH-3FH/6FH/12FH/
20FH series:
1,0,1
RV-F series:
0,0,1
RH-3FHR series:
1,1,1
The setting varies
depending on the
model.
The setting varies
depending on the
model.
0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0