Rapid Components - ABB IRC5 Applications Manual

1 Collision Detection

1.2.2. RAPID components

1.2.2. RAPID components
Instructions
This is a brief description of the instructions in Collision Detection. For more information,
see respective instruction in Technical reference manual - RAPID Instructions, Functions and
Data types.
Instruction
MotionSup
16
Description
MotionSup is used to:
• activate or deactivate Collision Detection. This can only be done
if the parameter Path Collision Detection is set to On.
• modify the supervision level with a specified percentage value
(1-300%). A large percentage value makes the function less
sensitive.
3HAC18154-1 Revision: F