ABB IRC5

1 Collision Detection
1.2.2. RAPID components
3HAC18154-1 Revision: F16
© Copyright 2004-2008 ABB. All rights reserved.
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 Description
MotionSup 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.