6-542 Interference avoidance function
5Functions set with parameters
(2) Interference avoidance during program execution
The interference avoidance function can be used during program execution (during automatic operation) by
setting the 2nd element of parameter: CAV to Enable (“1”), and using the instructions shown in Table 5-42
and the external variables shown in Table 5-43.
Table 5-42:Commands (Interference avoidance function)
Table 5-43:Robot (system) status variables (Interference avoidance function)
[Supplement]
When an interference is detected, the robot decelerates to a stop. The movement is determined according
to whether “NOErr” is designated with the CavChk On (CavChk On) instruction.
NOErr not designated: Alarm (L240n) occurs. The alarm must be reset to resume automatic operation.
NOErr designated: An alarm does not occur, and instead the interrupt process designated in the pro-
gram is executed.
Note) To designate NOErr, an interrupt program, which is executed when an interruption is
detected, must be set.
An alarm will occur if this instruction is executed without an interrupt process being set.
Overview of interrupt process: An interference is detected when the robot (system) status
variable M_CavSts value changes from “0”. Make a decla-
ration to execute the interrupt process in this state.
A sample program is given on Page 543, "5.24.10 Sample
programs".
If origin setting is not completed, the current joint position of all axes will be executed
as 0 always.
For this reason, this function does not operate correctly. Executes this function, after
making origin setting certainly complete.
Command Details Explanation page
CavChk Enable/disable the interference avoidance function, and set whether to generate an
alarm when an interference is detected.
CavChk <ON/OFF>[, <Robot CPU No.>[,NOErr]]
Page 179
Variable name Details Explanation page
P_CordR The robot’s base coordinate system origin point looking from common coordinate sys-
tem.
Data type: Position type
Page 385
P_CurrR Local robot’s current position looking from the common coordinate system
Data type: Position type
Page 387
P_CavDir The robot’s movement direction when interference is detected
Data type: Position type
Page 383
M_CavSts Interference state
0: No interference
1 to 3: The number of the interfering robot when interference is detected
Data type: Integer type
Page 325
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