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10.4.1.9. COLDET

10.4.1.9. COLDET​

 

When the collision detection function is available, COLDET command sets collision detection level of a robot. For collision detection function availability setup and collision detection value according to level, go to 『[F2]: System』 → 『3: Robot parameter』 → 『8: Collision Detection Setting』.

(This menu is shown only when the robot that can use the collision detection function is selected.)

 

When the collision detection function is enabling, its detection level is level 4 without COLDET command. Under COLDET command, collision detection is executed at the proper level until next COLDET command is given. If COLDET is 0, the collision detection function becomes disabling. In the manual manipulation mode, level J for manual mode is applied.

 

Explanation

Collision detection level setup

Grammar

COLDET <level number>

Parameter

level number

0~4

Example

When the collision detection function is available and operation program is as follows:

             S1 MOOE

             S2 MOVE

                COLDET 1

             S3 MOVE

                COLDET 0

             S4 MOVE

             S5 MOVE

                END

Detection level is 4 at step 1 and step 2, the level is 1 at step 3, and collision detection is unavailable after step 4.

Note