RAPID reference manual - Technology

MotionSupCollision DetectionInstructionArgumentsMotionSup[\On] | [\Off] [\TuneValue][ \On ] Data type: switchActivate the motion supervision function during program execution(if it has already been activated in system parameters).[ \Off ] Data type: switchDeactivate the motion supervision function during program execution.One of the arguments \On or \Off must be specified.[ \TuneValue ] Data type: numTuning the motion supervision sensitivity level in percent (1 - 300%) of systemparameter level. A higher level gives more robust sensitivity. This argument canonly be combined with argument \On.Program executionIf the function motion supervision is active both in the system parameters and in theRAPID program and the motion supervision is triggered because of a collision etc.,then- the robot will stop as quickly as possible- the robot will back up to remove any residual forces- the program execution will stop with an error messageIf motion supervision is active in system parameters, it is by default active during programexecution (TuneValue 100%). These values are set automatically- at a cold start-up- when a new program is loaded- when starting program execution from the beginning.LimitationsMotion supervision is never active for external axes or when one or more joints are runin independent joint mode. When using the robot in the soft servo mode, it may be necessaryto turn the motion supervision off to avoid accidental tripping.246 RAPID reference manual - part 1a, Instructions A-R