Справочник Пользователя для Mitsubishi Electronics MR-MC210
6 - 45
6. APPLICATION FUNCTIONS
6.17.4 Operation check
In order to prevent collision, the current command position is monitored at all times and if the difference
between the relative distance of the axis and the interference check axis is judged to be less than the
interference check width, rapid stop is executed. The monitored current command position stops, with the
travel distance during the rapid stop allowed, so that the distance from the interference check axis does not fall
below the interference check width.
(1) If the interference check axis is moving in the relative distance such that it is getting closer to the axis.
between the relative distance of the axis and the interference check axis is judged to be less than the
interference check width, rapid stop is executed. The monitored current command position stops, with the
travel distance during the rapid stop allowed, so that the distance from the interference check axis does not fall
below the interference check width.
(1) If the interference check axis is moving in the relative distance such that it is getting closer to the axis.
If the distance between the axis and the interference check axis is judged to drop below the interference
check width, an entering interference area error (operation alarm 45, detail 01) is output and rapid stop is
executed. At the same time, an entering interference area error (operation alarm 45, detail 01) also occurs
in the interference check axis and rapid stop is executed.
For the interference check width set the settings so that the following equation is true.
check width, an entering interference area error (operation alarm 45, detail 01) is output and rapid stop is
executed. At the same time, an entering interference area error (operation alarm 45, detail 01) also occurs
in the interference check axis and rapid stop is executed.
For the interference check width set the settings so that the following equation is true.
Interference check width (Lc) > (Offset from axis one coordinate point to load side)
(Offset from axis two coordinate point to load side)
Axis 2
(Interference check axis)
Interference check width
Alarm stop
Alarm stop
Axis 1
(The axis)
(2) If the interference check axis is moving in the direction such that it is moving away from the axis.
(a) For automatic operation, linear interpolation operation and for using incremental feed
If the distance between the axis and interference check axis is judged to drop below the interference
check width while the interference check axis is moving away from the axis and rapid stop is executed.
Then, whether to cancel the operation or to restart the operation automatically by conditions can be
selected in Interference check standby (parameter No.0282).
check width while the interference check axis is moving away from the axis and rapid stop is executed.
Then, whether to cancel the operation or to restart the operation automatically by conditions can be
selected in Interference check standby (parameter No.0282).
1) When Interference check standby is invalid
If the distance between the axis and interference check axis is judged to drop below the interference
check width while the interference check axis is moving away from the axis, output an extending to
interference area error (operation alarm 45, detail 01) and execute and rapid stop is executed. At the
same time, an entering interference area error (operation alarm 45, detail 01) also occurs in the
interference check axis and rapid stop is executed.
check width while the interference check axis is moving away from the axis, output an extending to
interference area error (operation alarm 45, detail 01) and execute and rapid stop is executed. At the
same time, an entering interference area error (operation alarm 45, detail 01) also occurs in the
interference check axis and rapid stop is executed.
Axis 1
(The axis)
(The axis)
Axis 2
(Interference check axis)
(Interference check axis)
Alarm stop
Interference check width
Alarm stop