3Monitor Robot Information
Monitoring Item 3-24
<Precautions>
● When the target mecha does not exist, outputs the data zero.
● The value below is output as ColChk:
- When multiple mechas are in use or when the element 1 of parameter COL is zero (collision detection
unavailable),
→ zero is output
- Otherwise (collision detection available):
When being in operation (including step feed, position jump operation, and sequencer direct perfor-
mance),
→ the initial value is the value of element 2 of parameter COL, and then the output value is the
value changed by ColChk command.
When not being in operation (including suspension and jog operation),
→ it is set to the value of element 3 of parameter COL.
● The value below is output as ColLvl:
- When multiple mechas are in use or when the element 1 of parameter COL is zero (collision detection
unavailable) and
being in operation,
→ the initial value is the value of parameter COLLVL, and then the output value is the value
changed by ColLvl command.
When not being in operation,
→ it is the value during automatic operation is held when being in suspension, and it is the value
of parameter COLLVL when being stopped.
- Otherwise (collision detection available),
When being in operation,
→ the initial value is the value of parameter COLLVL, and then the output value is the value
changed by ColLvl command.
When not being in operation,
→ it is the value of parameter COLLVLJG.
● CMP Pos/Tool/Jnt setting values are set to zero when mechas 2, 3 are selected during using multiple
mechas.
(User mecha cannot use compliance)
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