Mitsubishi Electric CR750-Q Instruction Manual page 348

4MELFA-BASIC V
M_ColSts
[Function]
Return the collision detection status..
1: Detecting an collision
0: No collision has been detected
[Format]
Example) Def Act 1, M_ColSts [(<Mechanism Number>)]=1 GoTo *LCOL,S
[Terminology]
<Mechanism Number>
[Reference Program]
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
:
:
100 *HOME
101 ColChk Off
102 Servo On
103 PESC=P_ColDir(1)*(-2)
104 PDst=P_Fbc(1)+PESC
105 Mvs PDst
106 Error 9100
[Explanation]
(1) When an collision is detected, it is set to 1. When the servo is turned off and the collision state is can-
celed, it is set to 0.
(2) It is used as an interrupt condition in the Def Act instruction when used in the NOERR mode.
(3) This variable only reads the data.
4-328 Detailed explanation of Robot Status Variable
Specify the mechanism number 1 to 3. The default value is 1.
'Define the processing to be executed when an collision
is detected using an interrupt.
'Enable the collision detection function in the error non-occurrence
mode.
'If an collision is detected while executing lines 40 through 70, 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.