Collision Avoidance - ABB IRB 14000 Operating Manual

3.5 Collision avoidance

Introduction
The IRB 14000 has a built in functionality called Collision Avoidance that is active
both during jogging and when running programs. Collision avoidance monitors the
geometrical models of the robot arms and the body, and the robot stops if any of
the parts get too close to each other.
Collision Avoidance is no guarantee for avoiding collisions. It monitors the
geometrical models of the robot arms and the body, but does not know the position
of external equipment near to the robot.
System parameters
The default safety distance can be set by the system parameter Coll-Pred Safety
Distance.
For more information, see the system parameter
page
False collision warning
If the robot arms move close to each other or close to the base, and the collision
avoidance is too sensitive, a warning for collision may occur even if no collision
will happen.
There are three different ways to lower the collision sensitivity to avoid warnings:
Disabling collision avoidance
It is possible to disable the collision avoidance functionality. It may be necessary
to temporarily disable collision avoidance if the robot has already collided or is
within the default safety distance, or when the robot arms need to be very close
and the risk of collision is acceptable.
Set the digital output signal Collision_Avoidance to 0 to disable collision
detection. It is recommended to enable it (set Collision_Avoidance to 1) as
soon as the work is done that required collision avoidance to be disabled.
Operating manual - IRB 14000
3HAC052986-001 Revision: E
CAUTION
The user must always be careful to avoid collisions with external equipment,
since a collision could damage the mechanical structure of the arm.
60.
• Temporarily disable collision avoidance. See
on page 39.
• Decrease the safety distance for the pair of robot arm links that trigger the
false collision warning. See
• Decrease the general safety distance. See
page 60.
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3 Using the IRB 14000
Coll-Pred Safety Distance on
Disabling collision avoidance
Decrease sensitivity between links on page
Coll-Pred Safety Distance on
3.5 Collision avoidance
40.
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