# How to generate collision free path with PowerPacs?

**URL:** <https://tech-community.robotics.abb.com/t/how-to-generate-collision-free-path-with-powerpacs/7980>\
**Category:** PowerPacs\
**Tags:** collision-detection\
**Created:** [November 27, 2017, 1:27am UTC](https://tech-community.robotics.abb.com/t/how-to-generate-collision-free-path-with-powerpacs/7980 "2017-11-27T01:27:54Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![Yishin](https://avatars.discourse-cdn.com/v4/letter/y/9fc29f/32.png) [@Yishin](https://tech-community.robotics.abb.com/u/Yishin)\
**Post date:** [November 27, 2017, 1:27am UTC](https://tech-community.robotics.abb.com/t/how-to-generate-collision-free-path-with-powerpacs/7980/1 "2017-11-27T01:27:54Z")

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While PowerPacs can easily generate the grinding path, the grinding tool my collide with the ARM at some of the generated points. Please check the attached image as an example.

Is there an option for PowerPacs to generate collision free path?

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/b4ae8a5572d3c582977444559c534dc68e48d4a8.png)

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**Author:** ![MikeEd](https://avatars.discourse-cdn.com/v4/letter/m/67e7ee/32.png) [@MikeEd](https://tech-community.robotics.abb.com/u/MikeEd)\
**Post date:** [September 13, 2018, 5:50am UTC](https://tech-community.robotics.abb.com/t/how-to-generate-collision-free-path-with-powerpacs/7980/2 "2018-09-13T05:50:56Z")

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Just limit your joint angles in the MOC file

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<div class="post-metadata">

**Author:** ![Yishin](https://avatars.discourse-cdn.com/v4/letter/y/9fc29f/32.png) [@Yishin](https://tech-community.robotics.abb.com/u/Yishin)\
**Post date:** [December 24, 2018, 5:38am UTC](https://tech-community.robotics.abb.com/t/how-to-generate-collision-free-path-with-powerpacs/7980/3 "2018-12-24T05:38:49Z")

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I opened the MOD.CFG file, and got confused by its syntax.  
Please point out which document should be referred for limiting joint angles with MOD.CFG file?

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**Author:** ![SKuhn](https://avatars.discourse-cdn.com/v4/letter/s/3bc359/32.png) [@SKuhn](https://tech-community.robotics.abb.com/u/SKuhn)\
**Post date:** [March 1, 2019, 7:13am UTC](https://tech-community.robotics.abb.com/t/how-to-generate-collision-free-path-with-powerpacs/7980/4 "2019-03-01T07:13:14Z")

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Try reorienting about the tool Z to avoid collision between the joints. The programmed point is not ideal.

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**Author:** ![DenisFR](https://avatars.discourse-cdn.com/v4/letter/d/dc4da7/32.png) [@DenisFR](https://tech-community.robotics.abb.com/u/DenisFR)\
**Post date:** [March 4, 2019, 11:15am UTC](https://tech-community.robotics.abb.com/t/how-to-generate-collision-free-path-with-powerpacs/7980/5 "2019-03-04T11:15:34Z")

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Hello,  
You can get them in ARM: section  
In -name “rob1\_5”, change -upper\_joint\_bound or -lower\_joint\_bound values in radians.  
From System parameters Help file:

Topic Motion - Type Arm  
Upper Joint Bound

Parent Upper Joint Bound belongs to the type Arm, in the topic Motion.  
Cfg name upper\_joint\_bound  
Description Upper Joint Bound defines the upper limit of the working area for this joint.  
Usage Upper Joint Bound can be used to limit the working area (in radians) of the joint.  
Note  
It is not possible to use a value that is larger than the maximal allowed limit for the specific joint. Trying this will cause the system to use the maximal allowed value instead.  
Limitations This parameter is valid only for articulated robots. For more information, see How to restrict the work area for articulated robots.  
Allowed values A value between -1,256,637 and 1,256,637 radians.