Turning Collision detection off and on in a program step

fulmermike

I am currently running an IRB 6640 with IRC5 controller.It is using a DSQC639 computer board and RW5.15. I would like to be able to turn off collision detection for one step and back on for safety. Which Computer board and version of RW do I need to upgrade to ?

lemster68

Do you have the Motion supervision and collision detection option?
If so, just use the instructions MotionSup\On and MotionSup\Off.

fulmermike

Looking at the options I do have the collision detection , world zones , soft move and Device net. Should i be able to see the Motion Supervision listed ? Thank you for your help.

lemster68

Absulutely.  Try to add the instruction via the pendant.  There should also be an optional argument for \On, which is a tunevalue for the sensitivity.  You might find it better than actually turning it completely off.

lemster68

I think that a PP to Main resets it but it is just good practice to turn it back on when necessary.

fulmermike

Thank you again for your help.

fulmermike

Thank you for your input, so if I turn it off will it turn back on at the beginning of the next cycle or do I need to turn it back on ? I did locate it on the pendant 

SomeTekk

From the RW 5.15 manual:

If motion supervision is active in system parameters it is then active by default during program execution (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. (My interpretation of this declaration is; a PP to Main (or Routine, or Cursor) must take place, not merely a return to the top of the call stack)