ABB OmniCore V400XT Product Manual page 112

3 Installation and commissioning
3.5.11 Programmable stop functions
Continued
Type of stop
Stop at collision
Stopping time/distance
Stopping time and distance metric for stop category 0 and stop category 1 are
detailed in the product specification for the respective manipulator.
The data is valid for floor mounted manipulators, without any tilting.
112
Description
In the control system there is a monitoring function that can
detect collisions. When a collision is detected, a stop will be
initiated.
This functionality can be switched on/off using the system
parameters for Motion/Motion Supervision.
WARNING
Special care must be taken when restarting a machine that is
stopped due to a collision. The robot might make a limited
movement when restarted.
WARNING
The revolution counters might need to be updated after a colli-
sion to ensure path accuracy.
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Product manual - OmniCore V400XT
3HAC081697-001 Revision: A