Mitsubishi Electric CR750-Q Instruction Manual page 338

Cr750/cr751/cr760 series

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4MELFA-BASIC V

[Explanation]

(1) Keep the maximum value of the error of the estimated torque and actual torque of each axis while colli-

sion detection function is valid.

(2) When this value is 100%, it indicates that the maximum error value is the same as the manufacturer's ini-

tial value of the allowable collision level.

(3) For robots that prohibit the use of collision detection, 0.0 is always returned for all axes.

(4) The maximum error value is initialized to 0.0 when the servo is turned ON during the execution of a Col-

Chk ON or COLLVL instruction.

(5) Because they are joint-type variables, it will be conversion values from rad to deg if they are read as joint

variables. Therefore, substitute each axis element by a numeric variable as shown in the syntax exam-

ple when using these joint-type variables.

(6) This variable only reads the data.

CavChk On (CavChk

[Sample program]

The program which sets the collision detection level automatically is shown below.

4-318 Detailed explanation of Robot Status Variable

Level), M_ColSts,

Actual torque

Sets up the collision detection level automatically in the moving to P2

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Cr750 Cr751-q Cr751-d Cr760-d Cr760-q Cr750-d