1 Collision Detection
1.3.4. How to avoid false triggering
213HAC18154-1 Revision: F
© Copyright 2004-2008 ABB. All rights reserved.
1.3.4. How to avoid false triggering
About false triggering
Because the supervision is designed to be very sensitive, it may trigger if the load data is
incorrect or if there are large process forces acting on the robot.
Actions to take
If ... then ...
the payload is incorrectly
defined
use Load Identification to define it. For more information, see
Operating manual - IRC5 with FlexPendant.
the payload has large mass
or inertia
increase supervision level
the arm load (cables or
similar) cause trigger
manually define the arm load or increase supervision level
the application involves
many external process
forces
increase the supervision level for jogging and program
execution in steps of 30 percent until you no longer receive the
error code.
the external process forces
are only temporary
use the instruction MotionSup to raise the supervision level
or turn the function off temporarily.
everything else fails turn off Collision Detection.
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