ABB CRB 15000 Product Manual page 80

3 Installation and commissioning
3.5.3 Working closely with the robot in a safe way
Continued
Wherever possible, constrained collisions shall be prevented by safely restricting
the robot motion. This can be done by using the safety functions Tool Position
Supervision and Axis Position Supervision (see Application manual - Functional
safety and SafeMove). The programmed limits must allow for stopping distances.
Where there is a risk of constrained collisions (for example, due the purpose of
the application), a zone shall be constructed where the safety function Tool Force
Supervision is used to limit the contact forces. Assistance with parameter settings
is provided by the supporting function Human Interaction Supervision. The limits
are provided in ISO/TS 15066. Low speed limits (typically <100 mm/s) are required
to make the force limits effective, otherwise the system cannot react fast enough.
SafeMove can only supervise motion compared to the position and speed limits
set within a zone. The manipulator may therefore leave a zone at the maximum
safe speed allowed within that zone. This is important for the transition between
unconstrained and constrained collision zones.
To achieve safe constrained collisions, either:
These approaches can be combined. Additional safety zones can also be introduced
between the constrained and unconstrained collision zones to improve the cycle
time.
Deviation: Single Point of Control
There is a deviation to ISO 10218-1 §5.3.5 in that the robot does not guarantee a
Single Point of Control in automatic mode. This means that any clients connected
to the robot and used for starting and stopping program execution must be
considered when allowing the operator to use the ASI. Such clients include
FlexPendant, RobotStudio, or other Robot Web Services applications. It also
includes external PLCs starting the robot via System Inputs.
The integrator must ensure that these additional clients cannot lead to an
unacceptable risk to the user in automatic mode. There are several solutions to
reduce the risk in automatic mode:
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1 The constrained collision zone must be deep enough that the manipulator
stops before hurting the operator. This must happen even if it enters the zone
at the maximum speed allowed in the neighboring zone.
Or:
2 The speed must be reduced in the neighboring safety zone, to ensure that
the manipulator stops in time.
1 For any operation of the arm-side interface in automatic mode, a validated
safety configuration must be in place to prevent collisions between
manipulator and user, or to ensure that they are safe. As described above,
this can be achieved by a combination of safety functions and constructional
measures. Appropriate safety functions must be activated for the complete
range of motion of the application.
2 To prevent unexpected motion, initiated by additional clients:
Do not add additional clients to the robot to control program execution.
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Product manual - CRB 15000
3HAC077389-001 Revision: E