Signals - ABB IRC5 Applications Manual

1.2.3. Signals

Digital outputs
This is a brief description of the digital outputs in Collision Detection. For more information,
see respective digital output in Technical reference manual - System parameters.
Digital output
MotSupOn
MotSupTrigg
3HAC18154-1 Revision: F
Description
MotSupOn is high when Collision Detection is active and low when it is
not active.
Note that a change in the state takes effect when a motion starts. Thus,
if Collision Detection is active and the robot is moving, MotSupOn is
high. If the robot is stopped and Collision Detection turned off,
MotSupOn is still high. When the robot starts to move, MotSupOn
switches to low.
MotSupTrigg goes high when the collision detection triggers. It stays
high until the error code is acknowledged from the FlexPendant.
1 Collision Detection
1.2.3. Signals
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