5Functions set with parameters
Interference avoidance function 6-543
5.24.10 Sample programs
(1) Starting and ending the interference avoidance function (all robots)
<Program example> Note) The step numbers are omitted.
:
'--- Default state (Interference avoidance function enabled) ---;When interference check is enabled
with parameter: CAV.
:
MVS P1 'Movement when the interference avoidance function is enabled
:
'--- Interference avoidance disabled for all robots ---
CavChk OFF 'Function disabled for all robots when no robot No. is specified
:
MVS P2 'Movement when the interference avoidance function is disabled
:
'--- Interference avoidance enabled for all robots---
CavChk ON 'Function enabled for all robots when no robot No. is specified
:
MVS P3 'Movement with the interference avoidance function is enabled
:
(2) Starting and ending interference avoidance function (designated robot)
<Program example> Note) The step numbers are omitted.
:
'--- To end the interference avoidance function with the No. 2 robot ---
CavChk OFF,2 'End the interference avoidance function with the robot No. 2
:
MVS P5 'Movement when the interference avoidance function with the robot No. 2 is dis-
abled
:
'--- To start the interference avoidance function with the No. 2 robot ---
CavChk ON,2 'Resume the interference avoidance function with the robot No. 2
:
MVS P6 'Movement when the interference avoidance function with the robot No. 2 is
enabled
:
(3) Changing the simulated hand and workpiece types
<Program example> Note) The step numbers are omitted.
:
'--- Change the simulated hand type ---
LoadSet 2,2 'Designate the simulated hand and workpiece type 2
:
MVS P7 'Execute the interference avoidance function with the simulated hand and work-
piece type 2
:
'--- Change the simulated component for interference check (workpiece) ---
LoadSet 1,2 'Designate the simulated hand type 1, simulated workpiece type 2
:
MVS P8 'Execute the interference avoidance function with the simulated hand type 1 and
the simulated workpiece type 2
:
'--- Change the simulated component for interference check (workpiece) ---
LoadSet 0,0 'Return the simulated hand and workpiece types to default values
:
MVS P9 '
:
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