ResetCollisionJnt
[Ver. 2.61 or later]
Disable the collision detection for the specified joint.
SetCollisionJnt(<joint#>)
This library disables the collision detection for the joint specified by <joint#>.
Requires file <pacman.h>
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<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.
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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.
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VS-G series: Version 2.61 or later
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VS-*** series: Version 3.20 or later
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VM-G, VP-G series: Version 2.70 or later
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HM-G, HS-G series: Version 2.80 or later
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The collision detection function does not work on an old engine board.
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TAKEARM
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'Get robot control priority
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CALL SetCollisionJnt(2)
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'Enable collision detection for joint 2
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MOVE P, P1, P2
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'With collision detection enabled, move
'from point P1 to P2 in PTP motion
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CALL ResetCollisionJnt(2)
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'Disable collision detection for joint 2
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MOVE P, P2, P3
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'With collision detection disabled, move
'from point P2 to P3 in PTP motion
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