To Next Page

To Previous Page

1 Collision Detection

1.3.3. Adjust supervision from RAPID program

3HAC18154-1 Revision: F20

1.3.3. Adjust supervision from RAPID program

Default values

If Collision Detection is activated with the system parameters, it is by default active during

program execution with the tune value 100%. These values are set automatically:

• at cold start

• when a new program is loaded

• when starting program execution from the beginning.

NOTE!

If tune values are set in the system parameters and in the RAPID instruction, both values are

taken into consideration.

Example: If the tune value in the system parameters is set to 150% and the tune value is set

to 200% in the RAPID instruction the resulting tune level will be 300%.

Temporarily deactivate supervision

If external forces will affect the robot during a part of the program execution, temporarily

deactivate the supervision with the following instruction:

MotionSup \Off;

Reactivate supervision

If the supervision has been temporarily deactivated, it can be activated with the following

instruction:

MotionSup \On;

NOTE!

If the supervision is deactivated with the system parameters, it cannot be activated with

RAPID instructions.

Tuning

The supervision level can be tuned during program execution with the instruction MotionSup.

The tune values are set in percent of the basic tuning where 100% corresponds to the basic

values. A higher percentage gives a less sensitive system.

This is an example of an instruction that increase the supervision level to 200%:

MotionSup \On \TuneValue:=200;

ABB IRC5 Applications Manual

Other manuals for ABB IRC5