Detailed explanation of command words
4-193
ColChk (Col Check)
[Function]
Set to enable/disable the collision detection function in automatic operation.
The collision detection function quickly stops the robot when the robot's hand and/or arm interferes with
peripheral devices so as to minimize damage to and deformation of the robot's tool part or peripheral
devices. However, it cannot completely prevent such damage and deformation.
[Format]
[Terminology]
On
Enable the collision detection function.
Once an collision is detected, it immediately stops the robot, issues an error numbered
in 1010's, and turns OFF the servo.
Off
Disable the collision detection function
NOErr
Even if an collision is detected, no error is issued. (If omitted, an error will occur.)
[Reference Program 1]
If an error is set in the case of collision
1 COlLvl 80,80,80,80,80,80,,
'Specify the allowable level for collision detection.
2 ColChk On
'Enable the collision detection function.
3 Mov P1
4 Mov P2
5 Dly 0.2
'Wait until the completion of operation
(Fine instruction can also be used).
6 ColChk Off
'Disable the collision detection function.
7 Mov P3
[Reference Program 2]
If interrupt processing is used in the case of collision
1 Def Act 1,M_ColSts(1)=1 GoTo *HOME,S
'Define the processing to be executed when an collision is
detected using an interrupt.
2 Act 1=1
3 ColChk On,NOErr
'Enable the collision detection function in the error non-occur-
rence mode.
4 Mov P1
5 Mov P2
'If an collision is detected while executing steps 4 through 7, it
jumps to interrupt processing.
6 Mov P3
7 Mov P4
8 Act 1=0
:
10 *HOME
'Interrupt processing during collision detection
11 ColChk Off
'Disable the collision detection function.
12 Servo On
'Turn the servo on.
13 PESC=P_ColDir(1)*(-2)
'Create the amount of movement for escape operation.
14 PDst=P_Fbc(1)+PESC
'Create the escape position.
15 Mvs PDst
'Move to the escape position.
16 Error 9100
'Stop operation by generating a user-defined L level error.
ColChk[]On [, NOErr] / Off
