1 Collision Detection
1.1.2. Limitations
3HAC18154-1 Revision: F12
© Copyright 2004-2008 ABB. All rights reserved.
1.1.2. Limitations
Load definition
In order to detect collisions properly, the payload of the robot must be correctly defined.
TIP!
Use Load Identification to define the payload. For more information, see Operating manual
- IRC5 with FlexPendant.
Robot axes only
Collision Detection is only available for the robot axes. It is not available for track motions,
orbit stations, or any other external axes.
Independent joint
The collision detection is deactivated when at least one axis is run in independent joint mode.
This is also the case even when it is an external axis that is run as an independent joint.
Soft servo
The collision detection may trigger without a collision when the robot is used in soft servo
mode. Therefore, it is recommended to turn the collision detection off when the robot is in
soft servo mode.
No change until the robot moves
If the RAPID instruction
MotionSup is used to turn off the collision detection, this will only
take effect once the robot starts to move. As a result, the digital output MotSupOn may
temporarily have an unexpected value at program start before the robot starts to move.
Reversed movement distance
The distance the robot is reversed after a collision is proportional to the speed of the motion
before the collision. If repeated low speed collisions occur, the robot may not be reversed
sufficiently to relieve the stress of the collision. As a result, it may not be possible to jog the
robot without the supervision triggering. In this case, turn Collision Detection off temporarily
and jog the robot away from the obstacle.
Delay before reversed movement
In the event of a stiff collision during program execution, it may take a few seconds before
the robot starts the reversed movement.
Robot on track motion
If the robot is mounted on a track motion the collision detection should be deactivated when
the track motion is moving. If it is not deactivated, the collision detection may trigger when
the track moves, even if there is no collision.
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