Collision Detection Memory - ABB IRB 14000 Operating Manual

5 System parameters

5.3.7 Collision Detection Memory

5.3.7 Collision Detection Memory
Parent
Collision Detection Memory belongs to the type Motion Supervision, in the topic
Motion.
Cfg name
collision_detection_memory
Description
Collision Detection Memory defines how much the robot moves back on the path
after a collision.
The parameter requires a restart of the controller when modified.
Usage
The movement of robot back on the path after a collision is specified in seconds.
If the robot was moving quickly before the collision, it will move further back than
if the speed was lower. For detailed information, see the Application
manual - Controller software IRC5.
Allowed values
A value in the interval 0 to 0.5, specifying the movement in seconds.
For the IRB 14000 robot the default value is 0 s and hence the robot does not back
off.
Setting the value to 0 s (disabling backing after collision) may leave the robot in a
state with residual forces remaining after a collision. This could trigger new
collisions when trying to move away from that position. To move away robustly
after a collision, the following are some of the recommended solutions:
Related information
Refer the section "How to tune the motion supervision" in the manual Technical
reference manual - System parameters.
Application manual - Controller software IRC5.
66
• Enable lead-through for a short period of time to release the tension.
• Set the value of MotionSup\ to Off before executing the move instructions.
• Use ContactL instead of MoveL.
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Operating manual - IRB 14000
3HAC052986-001 Revision: E