How do I know what options are installed?

    Hi,
    Robot: M-10iA
    Controller: R-30iA

    Our robot has to get into small openings, pick up a part hanging on a rack, move it to another area, then drop it back. This works fine 99% of the time.

    In 1 part of the program, 1% of the time (due to inconsistencies in some racks that the parts are hung) the robot touches the part beside it and faults out with:

    SRVO-50 Collision Detect
    SRVO-53 Disturbance Excess (G1, A3 A5)

    I've been reading about the Collision Guard and wanted to use COL DETECT OFF just before the move that creates the servo fault followed by COL DETECT ON.

    However I don't know if we have this option installed.

    How can I check what options are installed in the controller? ALSO
    Is there a way to program the robot to change it's path IF it encounters above servo fault?

    Thanks,
    Tom

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