Related Parameters - Mitsubishi Electric CR750-Q Instruction Manual

(2) Related parameters

The following parameters are related to the collision detection function. Refer to
parameter" and Page 496, "5.16 Hand and Workpiece Conditions (optimum acceleration/deceleration set-
tings)" for the detailed explanation of these parameters.
Table 5-20:Parameters related to the collision detection function
Parameter
name
COL Define whether to enable or disable the collision detection function as well as
whether it is valid or invalid immediately after turning the power supply on.
Element 1: Specify whether to enable (1) or disable (0) the collision detection
Element 2: Specify the initial state in program operation. Enable (1)/disable (0)
Element 3: Specify whether the function is enabled or disabled at jog operation.
COLLVL Set the initial value of the detection level (sensitivity) of each joint axis at program
operation. This value is a scaling factor that amplifies the detection level standard
value prescribed in the collision detection function. The smaller the value, the
higher the detection level.
Setting range: 1 to 500, unit: %
COLLVLJG Set the detection level (sensitivity) of each joint axis at jog operation (including
pause status). This value is a scaling factor that amplifies the detection level
standard value prescribed in the collision detection function. The smaller the
value, the higher the detection level.
Setting range: 1 to 500, unit: %
HNDDAT* Set the hand conditions (via tool coordinates).
* is 1 to 8 HNDDAT0 is employed as the initial condition immediately after turning the power
supply on. (Weight, size X, size Y, size Z, center of gravity X, center of gravity Y,
center of gravity Z) Unit: kg, mm
WRKDAT* Set the workpiece conditions (via tool coordinates).
* is 1 to 8 WRKDAT0 is employed as the initial condition immediately after turning the
power supply on. (Weight, size X, size Y, size Z, center of gravity X, center of
gravity Y, center of gravity Z) Unit: kg, mm
HNDHOLD* Specify whether to grab (1) or not grab (0) workpieces when the HOpen and
* is 1 to 8 HClose instructions are executed.
Element 1: Specify the status when the HOpen instruction is executed.
Element 2: Specify the status when the HClose instruction is executed.
Description and value
function
Enabled (1)/disabled (0)/NOERR mode (2)
5Functions set with parameters
Page 438, "5.1 Movement
About the collision detection function 5-515
Setting value at
shipment
RH-3FH/6FH/
12FH/20FH series:
1,0,1
RV-F series:
0,0,1
RH-3FHR series:
1,1,1
The setting varies
depending on the
model.
The setting varies
depending on the
model.
The setting varies
depending on the
model.
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0
0,1