3.19Collision detection command3.19Collision detection command
Application command “FN31 COLDET”Application command “FN31 COLDET”
To use this function, sandwich the area in which the collision detection is used with this function “FN31To use this function, sandwich the area in which the collision detection is used with this function “FN31
Application commanApplication comman
d : FN31 COLDETd : FN31 COLDET
Start or stop the collision detection function.Start or stop the collision detection function.
1: ON (=Start)1: ON (=Start)
0: OFF (= Stop)0: OFF (= Stop)
Designate the condition number.Designate the condition number.
For details, refer to “For details, refer to “
Settings for the conditions forSettings for the conditions for
the Collision detectionthe Collision detection
Designate the shelter step Designate the shelter step
If “10000” is set, the robot will stop after detecting theIf “10000” is set, the robot will stop after detecting the
collision with an error message.collision with an error message.
(An example of (An example of
FN31 COLDET recording)FN31 COLDET recording)
While the collision detection function is While the collision detection function is
being executed, the following ICON will be being executed, the following ICON will be
displayed on the screen.displayed on the screen.
When “Program selection operation” or “Step 0 selection operation” is done while thisWhen “Program selection operation” or “Step 0 selection operation” is done while this
collision detection function is being executed, this function collision detection function is being executed, this function
will be disabled.will be disabled.
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