Nachi EZ-CFDL Series, Instruction Manual

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3.19Collision detection command 3.19Collision detection command
3.19.4 3.19.4 Application command “FN31 COLDET” Application command “FN31 COLDET”
To use this function, sandwich the area in which the collision detection is used with this function “FN31 To use this function, sandwich the area in which the collision detection is used with this function “FN31
COLDET”. COLDET”.
Application comman Application command : FN31 COLDET d : FN31 COLDET
SLIM SLIM Number Number Name Name
COLDET COLDET FN31 FN31 Collision Collision detection detection
Parameters Parameters
No. No. Data Data Content, Content, Setting Setting range range
1 1
ON(1) ON(1)
OFF (0)
OFF (0)
Start or stop the collision detection function. Start or stop the collision detection function.
1: ON (=Start)
1: ON (=Start)
0: OFF (= Stop)
0: OFF (= Stop)
2 2 Condition Condition No. No.
Designate the condition number. Designate the condition number.
(1 – 8)
(1 – 8)
For details, refer to “
For details, refer to “3.19.3 3.19.3 Settings for the conditions for Settings for the conditions for
the Collision detection the Collision detection””
3 3 Shelter Shelter step step
Designate the shelter step Designate the shelter step number. number.
(1 – 10000) (1 – 10000)
If “10000” is set, the robot will stop after detecting the
If “10000” is set, the robot will stop after detecting the
collision with an error message.
collision with an error message.
(An example of (An example of FN31 COLDET recording) FN31 COLDET recording)
3.19.5 3.19.5 Status ICON Status ICON
While the collision detection function is While the collision detection function is being executed, the following ICON will be being executed, the following ICON will be displayed on the screen. displayed on the screen.
POINT POINT
When “Program selection operation” or “Step 0 selection operation” is done while this When “Program selection operation” or “Step 0 selection operation” is done while this
collision detection function is being executed, this function collision detection function is being executed, this function will be disabled. will be disabled.