ABB CRB 15000 Product Manual page 41

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Table of Contents

Product manual - CRB 15000

3HAC077389-001 Revision: E

SafeMove functions

Tool Orientation Super-

Tool Speed Supervi-

TCP Force Supervision

Axis Torque Supervi-

Control Error Supervi-

Contact Application

Calculated using PFHd

with ISO 13849-1 but gives a realistic estimation of the risk reduction provided by the safety

All safety functions comply with ISO 10218-1: the SRP/CS achieves Category 3,

The Cyclic Brake Check must be run every 8-48 hours. For more details see

Running the Cyclic Brake Check routine on page

For the manipulator, all the safety functionality is included in the joint units. These

are only designed to be replaced as complete units (see section

145). Individual subcomponents shall not be exchanged.

The maximum communication and manipulator reaction times must be added

to the reaction times from SafeMove (see Application manual - Functional safety

and SafeMove).

For stopping functions: 4 ms

For position and torque monitoring functions: 6 ms

Brake closing time <110 ms

A violation of the standstill monitoring will result in a Category 0 stop (see ISO

10218-1 §5.5.3). Due to the brake closing time, the robot can fall some distance

before it stops. Sufficient space must be provided around the robot to prevent

an operator from being trapped. The falling distance and maximum speed are

dependent on the robot pose, so this must be validated.

Troubleshooting