Sample Programs - Mitsubishi Electric CR750-Q Instruction Manual

5.24.10 Sample programs

(1) Starting and ending the interference avoidance function (all robots)
<Program example> Note) The step numbers are omitted.
:
'--- Default state (Interference avoidance function enabled) ---;When interference check is enabled
:
MVS P1
:
'--- Interference avoidance disabled for all robots ---
CavChk OFF
:
MVS P2
:
'--- Interference avoidance enabled for all robots---
CavChk ON
:
MVS P3
:
(2) Starting and ending interference avoidance function (designated robot)
<Program example> Note) The step numbers are omitted.
:
'--- To end the interference avoidance function with the No. 2 robot ---
CavChk OFF,2 'End the interference avoidance function with the robot No. 2
:
MVS P5
:
'--- To start the interference avoidance function with the No. 2 robot ---
CavChk ON,2
:
MVS P6
:
(3) Changing the simulated hand and workpiece types
<Program example> Note) The step numbers are omitted.
:
'--- Change the simulated hand type ---
LoadSet 2,2
:
MVS P7
:
'--- Change the simulated component for interference check (workpiece) ---
LoadSet 1,2
:
MVS P8
:
'--- Change the simulated component for interference check (workpiece) ---
LoadSet 0,0
:
MVS P9
:
'Movement when the interference avoidance function is enabled
'Function disabled for all robots when no robot No. is specified
'Movement when the interference avoidance function is disabled
'Function enabled for all robots when no robot No. is specified
'Movement with the interference avoidance function is enabled
'Movement when the interference avoidance function with the robot No. 2 is dis-
abled
'Resume the interference avoidance function with the robot No. 2
'Movement when the interference avoidance function with the robot No. 2 is
enabled
'Designate the simulated hand and workpiece type 2
'Execute the interference avoidance function with the simulated hand and work-
piece type 2
'Designate the simulated hand type 1, simulated workpiece type 2
'Execute the interference avoidance function with the simulated hand type 1 and
the simulated workpiece type 2
'Return the simulated hand and workpiece types to default values
'
5Functions set with parameters
with parameter: CAV.
Interference avoidance function 6-543