IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 493 / 844

Chapter 9 Special Functions
9.5 Vision System Interface Function ······························ 9-21
9.5.1 About vision system interface function ························· 9-21
9.5.2 Applicable function ·················································· 9-21
9.5.3 Interface specification ·············································· 9-22
9.5.4 Related parameters ················································· 9-23
9.5.5 Related error code ·················································· 9-27
9.6 RSEL Serial Communication Multiple Channel
Applicable Features ············································· 9-32
9.6.1 Applicable version ··················································· 9-32
9.6.2 Function details ······················································ 9-33
9.6.3 Restriction ····························································· 9-36
9.6.4 Related parameters ················································· 9-37
9.1 Multi-Slider Excess Approaching Detection (Collision Prevention) Feature
ME0392-4C
9-1
9.1 Multi-Slider Excess Approaching Detection (Collision Prevention) Feature
It is a feature to prevent the multi-sliders from colliding to each other when they are used in the
jog operation or position operation. Excess approaching of the multi-sliders can be detected by
establishing the parameter settings.
An error should be generated and the sliders should decelerate and stop when the approaching
distance between the first axis and the second axis gets to the distance that violates the
minimum distance between sliders
(Note 1) and further more the distance that violates the multi-
slider actual position excess approaching detection margin / command position excess
approaching margin as shown in the figure below. The servo should be turned off after the stop.
Note 1: It is the distance the sliders approach to each other the most.
[It is described in the appearance drawing of the multi-slider type in the instruction
manual and catalog.]
(Note) Get out of the approaching point with using e.g. jog after the excess approaching is
detected. (Jog operation towards the direction to get out should be available)
(Note) The multi-slider excess approaching (collision prevention) feature should activate after
the coordinates of both of the target axes (mutual axes) are confirmed. This feature
should get disabled in such cases of an error related to an encoder being occurred or
in the condition that the home-return operation incomplete for the incremental encoder
type.
[Error contents]
Error No. Name Remarks
No.481
Multi-Slider Excess
Approaching Error
When it is judged performing a stop is not
feasible within the minimum distance between
the multi-sliders and further more within the
distance approaching to the multi-slider
command position excess approaching
detection margin if an emergency stop is made
in the excess approaching by issuing a
movement command
When the approaching distance between the
first axis and the second axis after movement
figured out from the current position violates
the minimum distance between sliders and
further more it approaches the multi-slider
actual position excess approach detection
margin