Mitsubishi MELFA CR1D Instruction Manual page 187

ColChk (Col Check)
[Function]
Set to enable/disable the impact detection function in automatic operation.
The impact detection function quickly stops the robot when the robot's hand and/or arm interferes with
peripheral devices so as to minimize damage to and deformation of the robot's tool part or peripheral
devices. However, it cannot completely prevent such damage and deformation.
The impact detection function can only be used in certain models (Refer to "[Available robot type]".).
[Format]
ColChk[]On [, NOErr] / Off
[Terminology]
On
Off
NOErr
[Reference Program 1]
If an error is set in the case of impact
1 COlLvl 80,80,80,80,80,80,,
2 ColChk On
3 Mov P1
4 Mov P2
5 Dly 0.2
6 ColChk Off
7 Mov P3
[Reference Program 2]
If interrupt processing is used in the case of impact
1 Def Act 1,M_ColSts(1)=1 GoTo *HOME,S
2 Act 1=1
3 ColChk On,NOErr
4 Mov P1
5 Mov P2
6 Mov P3
7 Mov P4
8 Act 1=0
:
10 *HOME
11 ColChk Off
12 Servo On
13 PESC=P_ColDir(1)*(-2)
14 PDst=P_Fbc(1)+PESC
15 Mvs PDst
16 Error 9100
Enable the impact detection function.
Once an impact is detected, it immediately stops the robot, issues an error numbered
in 1010's, and turns OFF the servo.
Disable the impact detection function
Even if an impact is detected, no error is issued. (If omitted, an error will occur.)
'Specify the allowable level for impact detection.
'Enable the impact detection function.
'Wait until the completion of operation
(Fine instruction can also be used).
'Disable the impact detection function.
'Enable the impact detection function in the error non-occurrence mode.
'If an impact is detected while executing steps 40 through 70, it
jumps to interrupt processing.
'Interrupt processing during impact detection
'Disable the impact detection function.
'Turn the servo on.
'Create the amount of movement for escape operation.
'Create the escape position.
'Move to the escape position.
'Stop operation by generating a user-defined L level error.
'Define the processing to be executed when an impact is
detected using an interrupt.
Detailed explanation of command words 4-174
4MELFA-BASIC IV