Real time control

Hello :

I'm RO engineer from Taiwan ABB.
And I'm curious about the case for real-time controling.

I saw a similar video at youtube, that's might be waht I need.
ABB evasive movement

I wonder how the data from sensor affects the reference to robot?
I had tried option : Path Offset but it could not resopnse as fast as I need.
Is it done by option : Robot Reference Interface or Sensor Interface?

Thanks for disscussion.

BR/Jerry