# Self-collision when using move

**URL:** <https://forum.universal-robots.com/t/self-collision-when-using-move/21460>\
**Category:** URScript\
**Created:** [May 20, 2022, 2:16pm UTC](https://forum.universal-robots.com/t/self-collision-when-using-move/21460 "2022-05-20T14:16:24Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon39540096](https://avatars.discourse-cdn.com/v4/letter/a/9e8a1a/32.png) [@anon39540096](https://forum.universal-robots.com/u/anon39540096)\
**Post date:** [May 20, 2022, 2:16pm UTC](https://forum.universal-robots.com/t/self-collision-when-using-move/21460/1 "2022-05-20T14:16:24Z")

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I have discovered that when moving from pose  
[0.20, -0.490, 0.234, 0, **0** , 0]

to pose  
[0.20, -0.490, 0.234, 0, **0.4** , 0]

the robot collides with itself and stops.

Does not matter if I use moveL or moveJ. Does not matter if programming directly in the interface or sending move command over TCP/IP.

Did I forget to turn something on to check for self-collisions and avoid them? Or is this not supported? If not, can you recommend some way to do it?

Thanks a lot!