Collision avoidance

1 Requirements
Robots CRn-D and CRn-Q series.
RTToolbox 3.40s or higher
Firmware: R6b/S6b or higher

2 Function description
It not available for self detection.
It is available with single robot also D series.
It detect only Free Plane Limits.
3 Parameter setting

Setting of area:

MTS Department - Mitsubishi Electric Europe B.V. Polish Branch

Technical document nr 5 Date: 2011-01-10 Page 1 of 6

Rev. 1.0 Author: Piotr Golis
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Setting of Free plane Limit:

MTS Department - Mitsubishi Electric Europe B.V. Polish Branch

Technical document nr 5 Date: 2011-01-10 Page 2 of 6

Rev. 1.0 Author: Piotr Golis
Collision avoidance

If free plane limit is not avaliable in Avoidance function you can use standard Free plane limit and
parameter list for activation:

MTS Department - Mitsubishi Electric Europe B.V. Polish Branch

Technical document nr 5 Date: 2011-01-10 Page 3 of 6

Rev. 1.0 Author: Piotr Golis
Collision avoidance

4 JOG mode
If you want to deactivate Collision avoidance in JOG mode you unselect “Always enable in JOG”

MTS Department - Mitsubishi Electric Europe B.V. Polish Branch

Technical document nr 5 Date: 2011-01-10 Page 4 of 6

Rev. 1.0 Author: Piotr Golis
Collision avoidance

You deactivate it by button CLEAR on teach box R32TB or select box in R56TB.

MTS Department - Mitsubishi Electric Europe B.V. Polish Branch

Technical document nr 5 Date: 2011-01-10 Page 5 of 6

Rev. 1.0 Author: Piotr Golis
Collision avoidance

Revision history:
Rev. 1.0 Author: Piotr Golis Date: 2015-08-20

Attachments:
no

MTS Department - Mitsubishi Electric Europe B.V. Polish Branch

Technical document nr 5 Date: 2011-01-10 Page 6 of 6

Rev. 1.0 Author: Piotr Golis