SetCollisionLevel
[Ver. 2.61 or later]
Specify the collision detection sensitivity level for the specified joint.
SetCollisionLevel(<joint#, level>)
This library defines the collision detection sensitivity level specified by <level> for the joint specified by <joint#>. The typical detection sensitivity level is 100. Decreasing the level increases the collision detection sensitivity; increasing it decreases the sensitivity.
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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This library cannot be executed when the compliance control is enabled.
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If the robot detects a false collision, increase the detection sensitivity level to decrease the detection sensitivity.
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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(3)
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'Enable collision detection for joint 3
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CALL SetCollisionLevel(3,80)
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'Set collision detection sensitivity
'level for joint 3 to 80
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MOVE P, P1, P2
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'With higher detection sensitivity for
'joint 3, move from point P1 to P2 in PTP motion
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CALL SetCollisionLevel(3,120)
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'Set collision detection sensitivity
'level for joint 3 to 120
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MOVE P, P2, P3
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'With lower detection sensitivity for
'joint 3, move from point P2 to P3 in PTP motion
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