About the collision detection function
5-517
ring to
Page 61, "3.11 Operation to Temporarily Reset an Error that Cannot Be Canceled"
there is no interference.
*Method for disabling collision detection temporarily during jog operation
Perform servo-on and jog operation while holding down the [RESET] key on the TB. Collision detection is
disabled as long as the key is pressed.
2)How to use the function at program operation
The initial state of the collision detection function at program operation is specified by a parameter. In prac-
tice, however, the function is used by changing the setting in a program using a MELFA-BASIC V instruc-
tion. The parameters for setting the initial state and instructions related to the collision detection function are
shown in the table below. Refer to
Page 168, "4.13 Detailed explanation of command words"
and
"4.14 Detailed explanation of Robot Status Variable"
for the detailed explanation of the instructions.
Table 5-22:Parameters to be set for the collision detection function at program operation.
Table 5-23:MELFA-BASIC V commands and status variables used in the collision detection function at
program operation
Prameter
name
Description and value
Setting value at
shipment
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: Enables (1) the collision detection function (enable (1)/disable (0))
Element 2: Set enable (1) as the initial state of the collision detection function
at program operation (enable (1)/disable (0)).
RH-3FH/6FH/
12FH/20FH series:
1,0,1
RV-F series:
0,0,1
RH-3FHR series:
1,1,1
COLLVL
Set the detection level (sensitivity) of each joint axis at jog operation (including
pause status).
The setting varies
depending on the
model.
HNDDAT*
* is 1 to 8
Set the hand conditions (via tool coordinates).
The setting varies
depending on the
model.
WRKDAT*
* is 1 to 8
Set the workpiece conditions (via tool coordinates).
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0
HNDHOLD*
* is 1 to 8
Specify whether to grab (1) or not grab (0) workpieces when the HOpen and
HClose instructions are executed.
0,1
Command/
Status variable
Description
ColChk
Enables or disables the collision detection function or specifies the NOERR mode.
Example: ColChk ON
'Enable the collision detection function.
ColLvl
Specifies the detection level (sensitivity) of the collision detection function for each joint axis. This
value is a scaling factor that amplifies the detection level standard value prescribed in the collision
detection function (unit: %).
Example: ColLvl 80, 120, 120, 120, 50, 80,
'Specify the detection levels of axes J1 to J6.
LoadSet
Specifies the hand and workpiece conditions. Use this instruction when the hand to be used or
workpieces to be grabbed are changed during program operation.
Example: LoadSet 1, 0
'Specify conditions of the HNDDAT1 and WRKDAT0 parameters.
J_ColMxl
Returns the maximum difference value between the estimated torque and actual torque by convert-
ing it to the detection level. It is referenced when adjusting the arguments of the ColLvl command
(unit: %).
M_ColSts
Returns 1 when an interference is detected. It is used as interrupt condition in the NOERR mode.
P_ColDir
Returns the robot operation direction (operation ratios in the X, Y and Z directions) when an interfer-
ence is detected. It is used in retreat operation in the NOERR mode.
