Using Motion Supervision And Non Motion Execution - ABB IRC5 with FlexPendant Operating Manual

6.1.4 Using motion supervision and non motion execution

Motion supervision
The controller software has functionality aiming at reducing collision impact forces
on the robot. This helps protecting the robot and external equipment from severe
damage if a collision occurs.
Motion supervision during program execution is by default always active, regardless
which options are installed in the controller. When a collision is detected, the robot
will immediately stop and relieve the residual forces by moving in reversed direction
a short distance along its path. The program execution will stop with an error
message. The robot remains in the state Motors on so that program execution can
be resumed after the collision error message has been acknowledged.
Moreover, there is a software option called Collision Detection, which has extra
features such as supervision during jogging. To find out if your system has this
option installed, tap System Info on the ABB menu. Expand the node System
Properties and tap Options under Control Module.
Functions in RobotWare base
Description of functions in RobotWare base:
Functions in Collision Detection
A RobotWare system with Collision Detection has additional functionality:
Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
6.1.4 Using motion supervision and non motion execution
• Path Supervision in automatic and manual full speed mode used to prevent
mechanical damage due to the robot running into an obstacle during program
execution.
• Non motion execution used to run a program without robot motion.
• Path Supervision in manual mode and the possibility to tune supervision in
all modes.
• Jog Supervision used to prevent mechanical damage to the robot during
jogging.
• RAPID instruction MotionSup used to activate/deactivate collision detection
and to tune sensitivity during program execution.
Note
All motion supervision must be set for each task separately.
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