Crb 15000 With Safemove - ABB CRB 15000 Product Manual

3.6.3 CRB 15000 with SafeMove

General
For CRB 15000 with SafeMove, some different behaviors apply.
For more information about SafeMove, see Application manual - SafeMove.
Limitations
Lead-through
Product manual - CRB 15000
3HAC077389-001 Revision: A
It is only possible to use lead-through if a Contact Application Tolerance
(CAP) is configured in SafeMove. When using lead-through the servo
lag increases which in normal case triggers a stop from SafeMove. By
configuring a Contact Application Tolerance the servo lag can be de-
creased. For more information, see Application manual - SafeMove.
The recommendation is to add speed supervision in the safeguarded
space.
In manual mode, more effort is required to move the robot arm in lead-
through mode. This is to avoid getting speed violations from SafeMove.
© Copyright 2021 ABB. All rights reserved.
3 Installation and commissioning
3.6.3 CRB 15000 with SafeMove
75