Mitsubishi Electric CR750-Q Instruction Manual page 562

5Functions set with parameters
(2) Interference avoidance during program execution
The interference avoidance function can be used during program execution (during automatic operation) by
setting the 2nd element of parameter:
and the external variables shown in
Table 5-42:Commands (Interference avoidance function)
Command
CavChk Enable/disable the interference avoidance function, and set whether to generate an
alarm when an interference is detected.
CavChk <ON/OFF>[, <Robot CPU No.>[,NOErr]]
Table 5-43:Robot (system) status variables (Interference avoidance function)
Variable name
P_CordR The robot's base coordinate system origin point looking from common coordinate sys-
tem.
Data type: Position type
P_CurrR Local robot's current position looking from the common coordinate system
Data type: Position type
P_CavDir The robot's movement direction when interference is detected
Data type: Position type
M_CavSts Interference state
0: No interference
1 to 3: The number of the interfering robot when interference is detected
Data type: Integer type
[Supplement]
When an interference is detected, the robot decelerates to a stop. The movement is determined according
to whether "NOErr" is designated with the
NOErr not designated: Alarm (L240n) occurs. The alarm must be reset to resume automatic operation.
NOErr designated: An alarm does not occur, and instead the interrupt process designated in the pro-
Note) To designate NOErr, an interrupt program, which is executed when an interruption is
detected, must be set.
An alarm will occur if this instruction is executed without an interrupt process being set.
CAUTION
6-542 Interference avoidance function
CAV
Table
gram is executed.
Overview of interrupt process: An interference is detected when the robot (system) status
If origin setting is not completed, the current joint position of all axes will be executed
as 0 always.
For this reason, this function does not operate correctly. Executes this function, after
making origin setting certainly complete.
to Enable ("1"), and using the instructions shown in
5-43.
Details
Details
CavChk On (CavChk On)
variable M_CavSts
ration to execute the interrupt process in this state.
A sample program is given on
programs".
Explanation page
Page 179
Explanation page
Page 385
Page 387
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Page 325
instruction.
value changes from "0". Make a decla-
Page 543, "5.24.10 Sample
Table 5-42