Appendix A
A.1 MLX200 Add-on Instructions
A-30
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.24 MLxRobotCollisionDetection
The MLxRobotCollisionDetection instruction is used to perform various
actions for Collision Monitoring and Detection.
Valid actions are:
• 0 - Start Measurement Mode. This action will begin internally
recording torque disturbance values. In this mode, the Torque
Disturbance parameter is ignored and the system will not abort at
detected collisions.
• 1 - Start Execution Mode. This action will turn on Collision Detection
monitoring with the provided Allowable Torque Disturbance values.
In this mode, the system will abort if a disturbance is measured
larger than the Allowable Disturbance.
• 2 - Stop Collision Monitoring. This will turn off Collision Monitoring
and return the largest disturbance value for each axis since Collision
Monitoring was started (i.e. Action = 0 or 1).
• 3 - Get Maximum Torque Disturbance. This will return the current
maximum disturbance value for each axis but will not affect the
operation of Collision Monitoring.
• 4 - Reset Maximum Torque Disturbance. This will reset the current
internal maximum disturbance values for each axis but will not affect
the operation of Collision Monitoring.
Fig. A-24: MLxRobotCollisionDetection Instruction
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