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Detailed explanation of Robot Status Variable
4MELFA-BASIC IV
J_ColMxl
[Function]
Return the maximum value of the differences between the estimated torque and actual torque while the
impact detection function is being enabled.
The impact detection function can only be used in certain models (Refer to "[Available robot type]".).
[Format]
[Terminology]
<Joint Type Variable>
Specify a joint type variable to be assigned.(Joint type variable will be used
even if this is a pulse value.)
<Mechanism Number>
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
[Reference Program]
1 M1=100
'Set the initial value of the allowable impact level of each axis.
2 M2=100
3 M3=100
4 M4=100
5 M5=100
6 M6=100
7 ColLvl M1,M2,M3,M4,M5,M6,,
'Set the allowable impact level of each axis.
8 ColChk On
'Enable the impact detection function.
(Start the calculation of the maximum value of torque error.)
9 Mov P1
:
:
50 ColChk Off
'Disable the impact detection function.
(End the calculation of the maximum value of torque error.)
51 M1=J_ColMxl(1).J1+10
'For each axis, the allowable impact level with a margin of 10% is
calculated.
(10% is a reference value for the reference program and not an
actual guaranteed value.)
52 M2=J_ColMxl(1).J2+10
53 M3=J_ColMxl(1).J3+10
54 M4=J_ColMxl(1).J4+10
55 M5=J_ColMxl(1).J5+10
56 M6=J_ColMxl(1).J6+10
57 GoTo 70
Example) <Joint Type Variable>=J_ColMxl [(<Mechanism Number>)]