Table of Contents
Advertisement
4MELFA-BASIC IV
J_ColMxl
[Function]
Return the maximum value of the differences between the estimated torque and actual torque while the
impact detection function is being enabled.
The impact detection function can only be used in certain models (Refer to "[Available robot type]".).
[Format]
Example) <Joint Type Variable>=J_ColMxl [(<Mechanism Number>)]
[Terminology]
<Joint Type Variable>
<Mechanism Number>
[Reference Program]
1 M1=100
2 M2=100
3 M3=100
4 M4=100
5 M5=100
6 M6=100
7 ColLvl M1,M2,M3,M4,M5,M6,,
8 ColChk On
9 Mov P1
:
:
50 ColChk Off
51 M1=J_ColMxl(1).J1+10
52 M2=J_ColMxl(1).J2+10
53 M3=J_ColMxl(1).J3+10
54 M4=J_ColMxl(1).J4+10
55 M5=J_ColMxl(1).J5+10
56 M6=J_ColMxl(1).J6+10
57 GoTo 70
4-269 Detailed explanation of Robot Status Variable
Specify a joint type variable to be assigned.(Joint type variable will be used
even if this is a pulse value.)
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
'Set the initial value of the allowable impact level of each axis.
'Set the allowable impact level of each axis.
'Enable the impact detection function.
(Start the calculation of the maximum value of torque error.)
'Disable the impact detection function.
(End the calculation of the maximum value of torque error.)
'For each axis, the allowable impact level with a margin of 10% is
calculated.
(10% is a reference value for the reference program and not an
actual guaranteed value.)
Advertisement
Table of Contents
