5 Collision Detection
5.3 Using the MLxRobotCollisionDetection Instruction
5-12
168542-1CD
168542-1CD
MLX200 Software and
Operations
5.3.3 Changing Collision Detection Behavior during Application
Another potential use of Collision Detection is to change the behavior
based on certain parts of the application cycle. For example, it might be
useful to use a different Collision File for Pick/Place operations than for
general transfer motions. To do this, simply call the
MLxRobotCollisionDetection instruction with the desired Collision File #
before these motions, and then set it back to the normal setting
afterwards. Fig. 5-12 shows an example of this. On ApplicationStep=100,
the Collision File # is changed to 5, and then the pick/place operation is
executed. Afterwards, the Collision File is switched back to 2.
Fig. 5-12: Changing the Collision File # during an Application
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