ABB CRB 15000 Product Manual page 87

Template configurations
The template configuration is adapted for the specific manipulator, and typically
contains one or two encapsulations of the arm, one encapsulation of the wrist
(intended for the tool), one or two safe zones, and a Cyclic Brake Check setting.
This configuration is typically a good start for a generic application with a smaller
tool.
The factory setting is an empty safety configuration. A loaded configuration can
be removed and the system is then reset to the factory setting.
Encapsulations
The encapsulations are geometries that can be in the shape of a sphere, capsule,
or lozenge. A sphere or capsule encapsulation can be modified in dimension and
position. A lozenge capsule can be modified in dimension, position, and rotation.
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Product manual - CRB 15000
3HAC077389-001 Revision: E
3.6.3 The SafeMove configurator app on FlexPendant
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3 Installation and commissioning
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