Collision error handling while robot is not moving

RAPID Programming
1

Hi there ABB robotics folks, I’m integrating a custom positioner with an 2600ID robot. I want to know what signal to take into account if the positioner hit the robot, which is in running mode but is not moving. Even if I moved it in a safe position, I want to be sure that if gets hit, a signal will disconnect my positioner driver,

Thank you in advance

2

Hallo,
in configuration/motion supervision you find parameter collision_detection_at_standstill.
Switch this to TRUE to get what you intend.