ID : 5102

SetCollisionDetection

Function

Sets the parameters of collision detection for the specified table number.

Syntax

SetCollisionDetection table number, target axis, detection level, mode

Guaranteed Entry

Table number

Select a table number to set "1 to 10." Designate integer type data.

Target axis

Set axes for which to enable collision detection. Designate 8 bits of integer type data.

In the following example, "3" is set to specify the 1st and 2nd axes.

Detection level

Set the detection level. Designate joint type data.

Mode

Select "0: Cause an error" or "1: Not cause an error." Designate integer type data.

Description

Sets the parameters of collision detection for the specified table number.

Related Terms

CollisionDetection, GetCollisionStatus

Attention

If collision is incorrectly detected, increase the detection level and decrease the collision detection sensitivity.

Example

Sub Main                                  'Start the program.                         
 TakeArm keep = 1                         'Get axis control for the arm group.
 SetCollisionDetection 1,3,J(300,200,0,0,0,0),0      'Set the table number, target 
                                                     'axis, detection level,
                                                     'and mode.
                                                     'Specify J1 and J2 and monitor 
                                                     'them on the detection level.
                                                     'If the detection level is 
                                                     'exceeded, an error is caused. 
 :
 :
End Sub                                              'End of program.

ID : 5102

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