Mitsubishi Electronics MR-MC241 Benutzerhandbuch
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6. APPLICATION FUNCTIONS
6.17 Interference check function
Through setting the standard coordinate system for the interference check function, the current command
position of all of the axes and movement direction is changed to the standard coordinate system and
interference check using relative position is implemented. Therefore, for data used for change of coordinates,
the position and direction of the coordinate system with respect to the home position (where the current
command position is 0) standard coordinate system can be set using parameters.
Interference checks are performed when operation is started as well as changing of points and if the target
position of positioning of the axis is within the interference check area, a command error in interference area
(operation alarm 44, detail 01) is output and start of operation is interrupted.
And, for prevention of collision, the current command position is monitored at all times and if the difference of
the current command position of the axis and the interference check axis (relative distance) is less than the
width for interference checking, an interference standby error (if moving in the same direction) or an entering to
interference area error (operation alarm 45, detail 01) occurs and rapid stop is performed.
position of all of the axes and movement direction is changed to the standard coordinate system and
interference check using relative position is implemented. Therefore, for data used for change of coordinates,
the position and direction of the coordinate system with respect to the home position (where the current
command position is 0) standard coordinate system can be set using parameters.
Interference checks are performed when operation is started as well as changing of points and if the target
position of positioning of the axis is within the interference check area, a command error in interference area
(operation alarm 44, detail 01) is output and start of operation is interrupted.
And, for prevention of collision, the current command position is monitored at all times and if the difference of
the current command position of the axis and the interference check axis (relative distance) is less than the
width for interference checking, an interference standby error (if moving in the same direction) or an entering to
interference area error (operation alarm 45, detail 01) occurs and rapid stop is performed.
POINT
To validate or invalidate the interference check, use the interference check
Options (parameter No.0281). The number of axes for which the interference
check can be validated differs depending on the control cycle. Up to 8 axes
can be set. When the number is set exceeding the maximum number of axes
for which the interference check is valid, the parameter error (operation alarm
37, detail 01) occurs on all the axes for which the interference check is valid.
check can be validated differs depending on the control cycle. Up to 8 axes
can be set. When the number is set exceeding the maximum number of axes
for which the interference check is valid, the parameter error (operation alarm
37, detail 01) occurs on all the axes for which the interference check is valid.
Control cycle
Maximum number of axes for which
the interference check is valid
0.88ms 8
0.44ms 4
0.22ms 0
0.44ms 4
0.22ms 0
Interference check is valid after home position return complete for the axis
and interference check.
Interference standby is only valid for automatic operation, linear interpolation
operation and incremental feed. If while in other operation modes, the
difference of the current command position of between the axis and the
interference check axis is less than the width of interference checking, an
entering interference area error (operation alarm 45, detail 01) occurs and
rapid stop is performed.
difference of the current command position of between the axis and the
interference check axis is less than the width of interference checking, an
entering interference area error (operation alarm 45, detail 01) occurs and
rapid stop is performed.
Interference check is valid only when the travel direction is the same as the
interference check direction.
API LIBRARY
Use the sscChange2Parameter/sscCheck2Parameter function to set/get
anything relating to interference check.