SetCollisionJnt
[Ver. 2.61 or later]
Enable the collision detection for the specified joint.
SetCollisionJnt(<joint#>)
This library enables the collision detection for the joint specified by <joint#>.
Requires file <pacman.h>
-
<joint#> should be a robot joint number. If it is a joint other than robot ones, the error message "Excess in effective joint value range" ("Specified joint out of range") appears.
-
This library cannot be executed when the compliance control is enabled.
-
The collision detection function works with the corresponding controller software versions.When using project data older than the controller versions below, see "collision detection functions" in the PROGRAMMER'S MANUAL I.
-
VS-G series: Version 2.61 or later
-
VS-*** series: Version 3.20 or later
-
VM-G, VP-G series: Version 2.70 or later
-
HM-G, HS-G series: Version 2.80 or later
-
The collision detection function does not work on an old engine board.
|
TAKEARM
|
'Get robot control priority
|
|
CALL SetCollisionJnt(2)
|
'Enable collision detection for joint 2
|
|
MOVE P, P1, P2
|
'With collision detection enabled, move
'from point P1 to P2 in PTP motion
|
|
CALL ResetCollisionJnt(2)
|
'Disable collision detection for joint 2
|
|
MOVE P, P2, P3
|
'With collision detection disabled, move
'from point P2 to P3 in PTP motion
|