Using Motion Supervision And Non Motion Execution - ABB OmniCore Operating Manual

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7.2.5 Using motion supervision and non motion execution

7.2.5 Using motion supervision and non motion execution
Motion supervision
The controller software has the functionality aiming at reducing collision impact
forces on the robot. This helps in protecting the robot and the external equipment
from severe damage if a collision occurs.
Motion supervision during program execution is active by default and is always
active, regardless which options are installed in the controller. When a collision is
detected, the robot stops immediately and relieve the residual forces by moving a
short distance in reversed direction along its path. The program execution stops
with an error message. The robot remains in the Motors on state so that program
execution can be resumed after the collision error message has been
acknowledged.
Moreover, Collision Detection software option has extra features such as
supervision during jogging. To find out if your system has this option installed,
open the Settings app. Tap System >About > Options section which displays the
available options.
Functions in Collision Detection
A RobotWare system with Collision Detection has the following additional
functionality:
Non motion execution
Non motion execution enables you to run a RAPID program without robot motion.
All other functions like current cycle times, I/O, TCP speed calculation, and so on
work normally.
Non motion execution can be used for program debugging or cycle time evaluation.
It also represents a solution if you need to measure, for example, glue or paint
consumption during a cycle.
When non motion execution is activated it can be executed in:
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• Path Supervision used to prevent the mechanical damage due to the robot
running into an obstacle during program execution.
• Jog Supervision used to prevent mechanical damage to the robot during
jogging.
Note
All motion supervision must be set for each task separately.
• manual mode
• manual full speed mode
• auto mode
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Operating manual - OmniCore
3HAC065036-001 Revision: J