Mitsubishi Electric CR750-Q Instruction Manual page 539

*Program example
This program moves the robot to a retreat position by interrupt processing if an interference is detected.
1 Def Act 1,M_ColSts(1)=1 GoTo *HOME,S
2 Act 1=1
3 ColLvl 80,120,120,100,80,80,,
4 ColChk ON,NOErr
5 Mov P1
6 Mov P2
7 Mov P3
8 Mov P4
9 ColChk OFF
10 Act 1=0
:
1000 *HOME
1001 ColChk OFF
1002 Servo On
1003 PESC=P_ColDir(1)*(-5)
1004 PDst=P_Fbc(1)+PESC
1005 Mvs PDst
1006 Error 9100
:
3) Supplement
*Collision detection function predicts an imminent collision by estimating the amounts of torque required at
respective articulated arm axes on the basis of an prevailing position command, load settings, etc. and
comparing the values thus obtained with the torques which are actually developing.
This function, even if a real collision does not happen, will identify a collision when the robot arm receives
an external force during normal operation. For example, the robot hand may experience a drag from inter-
ference with a piping or cabling. Depending on the amount of resultant external force, the collision detec-
tion function judges that a collision has occurred. Check to see if the robot is not subjected to any force
other than those originating from a collision while the collision detection function is enabled.
*Distinction between jog operation and program operation
The robot operation speed and tasks are quite different at jog operation and program operation. The set-
tings for these operations are thus made independently in order to optimize the collision detection function
for each type of operation. Here, the terms "at jog operation" and "at program operation" refer to the follow-
ing.
At jog operation:
At program operation:
When these operations are executed, the status switches as shown in
During automatic operation
During step feed/return operation
During position data check operation
Fig.5-11:State transition diagram illustrating switch between program operation and jog operation
During jog operation or during pause of automatic operation
During automatic operation, during step feed/
return operation or during position data check operation
Impact detection function
Power on
at jog operation
Operation start
Step feed/return
Position data check
Impact detection function
at program operation
' Define processing to be executed if an interference is detected
by interruption.
' Set the detection level.
' Enable the collision detection function in the NOERR mode.
' Jump to the interrupt processing if an interference is detected
while executing step 5 to 8.
' Disable the collision detection function.
' Interrupt processing when an interference is detected
'Disable the collision detection function.
' Turn the servo on.
' Calculate the retreat amount (reverse operation of approxi-
mately 5 mm).
' Create a retreat position.
' Move to the retreat position.
' Pause the operation by generating user-defined L-level error.
Fig.
During jog operation
During pause of automatic operation
End of operation
Stop input
H/L level errors occur
About the collision detection function 5-519
5Functions set with parameters
5-11.