Mitsubishi Electric CR750-Q Instruction Manual page 213

ColChk (Col Check)
[Function]
Set to enable/disable the collision detection function in automatic operation.
The collision 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.
[Format]
ColChk[]On [, NOErr] / Off
[Terminology]
On
Off
NOErr
[Reference Program 1]
If an error is set in the case of collision
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 collision
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 collision detection function.
Once an collision is detected, it immediately stops the robot, issues an error numbered
in 1010's, and turns OFF the servo.
Disable the collision detection function
Even if an collision is detected, no error is issued. (If omitted, an error will occur.)
'Specify the allowable level for collision detection.
'Enable the collision detection function.
'Wait until the completion of operation
(Fine instruction can also be used).
'Disable the collision detection function.
'Enable the collision detection function in the error non-occur-
rence mode.
'If an collision is detected while executing steps 4 through 7, it
jumps to interrupt processing.
'Interrupt processing during collision detection
'Disable the collision 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 collision is
detected using an interrupt.
Detailed explanation of command words 4-193
4MELFA-BASIC V