Turning Collision detection off and on in a program step

in IRC5
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 ?
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Best Answers
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Do you have the Motion supervision and collision detection option?
If so, just use the instructions MotionSup\On and MotionSup\Off.
Lee Justice0 -
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.0
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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.Lee Justice1
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I think that a PP to Main resets it but it is just good practice to turn it back on when necessary.Lee Justice1
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Thank you again for your help.0
Answers
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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 pendant0
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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)0
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