RAPID reference manual - Technology

InstructionMotionSupCollision DetectionMotionSup - Deactivates/Activates motion supervisionMotionSup (Motion Supervision) is used to deactivate or activate the motion supervisionfunction for robot movements during program execution.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.DescriptionMotion supervision is the name of a collection of functions for high sensitivity, modelbasedsupervision of the robot. Currently it contains functionality for load supervision,jam supervision and collision detection. Because the supervision is designed to be verysensitive, it may trip if there are large process forces acting on the robot.If the load is not correctly defined, use the load identification function to specify it. Iflarge external process forces are present in most parts of the application, such as duringdeburring, then use the system parameters to raise the supervision level of the motionsupervision until it no longer triggers. If, however, the external forces are only temporary,such as during the closing of a large spotweld gun, then the MotionSup instructionshould be used to raise the supervision level (or turn the function off) for those parts ofthe application where the disturbance acts.Examples! If the motion supervision is active in the system parameters,! then it is active by default during program execution...! If the motion supervision is deactivated through the system parameters,! then it cannot be activated through the MotionSup instruction...! Deactivate motion supervision during program executionMotionSup \Off;...! Activate motion supervision again during program executionMotionSup \On;...! Tune the supervision level to 200% (makes the function less sensitive) of the level in! the system parametersMotionSup \On \TuneValue:= 200;...RAPID reference manual - part 1a, Instructions A-R 245