10.5.1.9. COLDET

10.5.1.9. 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: Set the collision detection (of each axis)』. (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 1 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 manual operation mode, Level 1 is applied.

 

Explanation	Collision detection level setup
Syntax	COLDET <level>
Parameter	level	0~4
Example	When the collision detection (of each axis) function is available and operation program is as follows:              S1 MOOE              S2 MOVE                 COLDET 2              S3 MOVE                 COLDET 0              S4 MOVE              S5 MOVE                 END Detection level is 1 at step 1 and step 2, the level is 2 at step 3, and collision detection is unavailable after step 4.
Remark