Mitsubishi Electric CR750-Q Instruction Manual page 564

5Functions set with parameters
(4) Executing avoidance operation after detecting interference (interrupt process)
<Program example> Note) The step numbers are omitted.
Def Act 1,M_CavSts<>0 GoTo *Home,S ' Define a process to be executed as an interrupt when
Act 1=1
CavChk On,0,NOErr
Mov P1
Mov P2
Mov P3
:
:
*Home
CavChk Off
M_CavSts=0
MDist=Sqr(P_CavDir.X*P_CavDir.X+P_CavDir.Y*P_CavDir.Y+P_CavDir.Z*P_CavDir.Z)
PESC=P_CavDir(1)*(-50)*(1/MDist)
PDST=P_Fbc(1)+PESC ' Create an avoidance destination
Mvs PDST
Mvs PHome
:
6-544 Interference avoidance function
interference is detected
' Enable the interference avoidance function in error disabled mode
' Movement when the interference avoidance function is enabled
' Movement when the interference avoidance function is enabled
' Movement when the interference avoidance function is enabled
' Step to interrupt when interference is detected
' Clear the interference state
' Find the movement rate ratio
' Create movement amount for avoidance operation (move back 50mm
from the interference position)
' Avoidance movement
' Move to the avoidance destination