SetCollisionCfg#

This command specifies the event severity for the collision supervision (robot links, tool sphere, and MPM500 module).

Syntax#

SetCollisionCfg(l)

Arguments#

  • l: integer defining the collision detection event severity as

    • 0, silent (i.e., collisions are verified but no action is taken, other than to log them internally);

    • 1, generate a warning (message [2182]) every time a new imminent collision is detected;

    • 4, generate a warning (message [2182]) and a motion error (message [3041]) every time a new imminent collision is detected.

Default values#

This setting is persistent and retained after a power cycle (a reboot). It is restored to its factory default after a complete factory reset of the robot.

The factory default is 4 (generate warning and motion error).

Responses#

  • [2180] [Collision configuration set successfully.]

Usage restrictions#

This command can only be executed when the robot is deactivated.

Cyclic protocols#

In cyclic protocols, the SetCollisionCfg command is represented by MotionCommandID 154. See Section 4.2 for more details.