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1 Collision Detection

1.2.3. Signals

173HAC18154-1 Revision: F

1.2.3. Signals

Digital outputs

This is a brief description of the digital outputs in Collision Detection. For more information,

see respective digital output in Technical reference manual - System parameters.

Digital output Description

MotSupOn MotSupOn is high when Collision Detection is active and low when it is

not active.

Note that a change in the state takes effect when a motion starts. Thus,

if Collision Detection is active and the robot is moving, MotSupOn is

high. If the robot is stopped and Collision Detection turned off,

MotSupOn is still high. When the robot starts to move, MotSupOn

switches to low.

MotSupTrigg MotSupTrigg goes high when the collision detection triggers. It stays

high until the error code is acknowledged from the FlexPendant.

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