Mitsubishi Electric MELFA FR CR800 Series User Manual page 236

13.3.15.2. Collision avoidance area parameter
Double-click [Movement parameter] -> [Collision avoidance] -> [Collision avoidance area] under the [Parameter]
item to be edited from the project tree.
You can set information related to the Collision avoidance area.
The controllers which can set the parameters [Collision avoidance area] are as follows.
Table 13-13 The controller and the robot model which can set the parameters [Collision avoidance area]
Robot controller
CR750-Q/CRnQ-700
CR750-Q/CRnQ-700
CR750-D/CRnD-700
CR800-R/CR800-Q
CR800-D
(*1) The version that corresponds to the cylinder model is Ver.R3m or later.
<a>
<b>
<c>
<d>
Robot/Hand/Work
You can switch the robot by the combo box<a>.
You can switch the collision avoidance area type (Robot/Hand/Work/Free plane limit) by the combo box<b>.
If you select one collision avoidance area from the list<c>, and click set button or double-click list, the dialog for
the collision avoidance area setting is displayed. The selected collision avoidance area is displayed in blue color
on the 3D model<d>.
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Software version of the robot controller
Ver.R3a or later (*1)
Ver.R6b or later
Ver.S6b or later
All versions
All versions
Figure 13-37 Collision avoidance area parameter
Robot model
RV-F, RH-F Robot/Hand/Work
Robot/Hand/Work/
RV-F, RH-F
Free plane limit
RV-F, RH-F Free plane limit
Robot/Hand/Work/
RV-FR, RH-FR
Free plane limit
RV-FR, RH-FR Free plane limit
Free plane limit
Model
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