Topic I/O System; Collision Avoidance - ABB IRB 14000 Operating Manual

5 System parameters

5.2.1 Collision Avoidance

5.2 Topic I/O System

5.2.1 Collision Avoidance
Parent
Collision Avoidance is an action value for the parameter Action that belongs to the
type System Input in the topic I/O System.
Cfg name
CollAvoidance
Description
This parameter is currently applicable only to IRB 14000 (YuMi robot).
The action value Collision Avoidance is used to activate the Collision Avoidance
functionality. By default this functionality is off in robots.
Collision Avoidance monitors a detailed geometric model of the robot. If two bodies
of the model come too close to each other, the controller warns about a predicted
collision and stops the robot. The system parameter Coll-Pred Safety Distance
determines at what distance the two objects are considered to be in collision, see
Coll-Pred Safety Distance.
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Operating manual - IRB 14000
3HAC052986-001 Revision: E