# sc4+ collision control

**URL:** <https://tech-community.robotics.abb.com/t/sc4-collision-control/1096>\
**Category:** Robot Controller\
**Created:** [March 20, 2007, 3:16am UTC](https://tech-community.robotics.abb.com/t/sc4-collision-control/1096 "2007-03-20T03:16:08Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![ar15](https://avatars.discourse-cdn.com/v4/letter/a/5e9695/32.png) [@ar15](https://tech-community.robotics.abb.com/u/ar15)\
**Post date:** [March 20, 2007, 3:16am UTC](https://tech-community.robotics.abb.com/t/sc4-collision-control/1096/1 "2007-03-20T03:16:08Z")

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i have a sc4+ controller and want to set up collision control. any ideas?

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**Author:** ![claudio](https://avatars.discourse-cdn.com/v4/letter/c/7cd45c/32.png) [@claudio](https://tech-community.robotics.abb.com/u/claudio)\
**Post date:** [March 20, 2007, 8:55am UTC](https://tech-community.robotics.abb.com/t/sc4-collision-control/1096/2 "2007-03-20T08:55:27Z")

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Hi Ar15.

From the Teachpendant:

System parameters-\>Manipulator-\>MotionSup

Press ENTER on “irb”  
you get:

Name irb  
Path Col Detect on  
Jog Col Detect on  
Path Col Detect level 100  
Jog Col Detect Level 100

When Path col Detect is On, collision detection is on.  
You can setup the sensibility playing with Path Col Detect level.

I Hope this can help  
Claudio

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**Author:** ![j\_proulx](https://avatars.discourse-cdn.com/v4/letter/j/8c91f0/32.png) [@j\_proulx](https://tech-community.robotics.abb.com/u/j_proulx)\
**Post date:** [March 27, 2007, 2:49pm UTC](https://tech-community.robotics.abb.com/t/sc4-collision-control/1096/3 "2007-03-27T14:49:09Z")

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Hello ar15,

If you would like to dynamically change the Collision Detection sensitivty, the robot controller must have the Load Identification and Collision Detection option installed. This will allow you access to the **MotionSup** instruction. This instruction allows you to turn on, turn off, and change the sensitivity of the robot’s collision detection in your Rapid program.

BR

Jim