Collision detection

Hello,

I am using KR210R2700_2 C4 FLR, Robot

With KRC4 controller

Version 8.6.411

Used for material handelling work

Now problem is :

Whenever robot dash to something with holding part in gripper robo stops immediately,

But, whenever robo dash something without holding the part in gripper, the gripper bend first & then robo stopped with mean of collision detection.

I know basic about collision detection sets

But i don't know how to use them.

Please anyone helps me how to use that function from beginning to end (in brief) !!

I wanted to know about new one !!!

i.e. menu > configuration > collision detection.