Adjust Supervision From Rapid Program - ABB IRC5 Applications Manual

1 Collision Detection

1.3.3. Adjust supervision from RAPID program

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:
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:
Reactivate supervision
If the supervision has been temporarily deactivated, it can be activated with the following
instruction:
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%:
20
• at cold start
•
when a new program is loaded
• when starting program execution from the beginning.
MotionSup \Off;
MotionSup \On;
MotionSup \On \TuneValue:=200;
3HAC18154-1 Revision: F