ABB CRB 1300 Product Manual page 126

3 Installation and commissioning
3.7.4.2 Configuration of SafeMove using Visual SafeMove in RobotStudio
Continued
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126
• ISH_Combination_Waning
In which, the expressions ISH_Combination_Protecting and
ISH_Combination_Waning are required only when two PROFIsafe-based
laser scanners are connected.
4 At the bottom of the Safe IO Configuration page, type the corresponding
logical expression in the text box for each expression and click Create
signals.
Expression
ISH_Activate_SST
ISH_Activate_TSP
ISH_Delay_SST
ISH_Delay_TSP
ISH_EnableDelay_Protect-
ing
ISH_EnableDelay_Warning
ISH_Combination_Protect-
i
ing
ISH_Combination_Waning
i
Required only when two PROFIsafe-based laser scanners are connected.
5 Click Signals view in the Safe IO Configuration page and then click Global
signals to expand the signal list.
6 Click on the Create new signal row and create the following signals.
• ISH_TFO_Active
• ISH_TSP_Active
• ISH_TSP_Viol
• ISH_SST_Active
• ISH_SST_Viol
7 Change the default value of following signals.
Signal
ISH_AtUser_Period_ms_Until_SST
ISH_AtUser_Period_ms_Until_TSP
ISH_SMctrl_Frequency
ISH_UserMODE_bNot_Cooperation
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Logic
ISH_Supervise_SST := ((NOT EDGE((NOT Protect-
ingAreaSM),ISH_Delayed_SST)) OR (NOT ISH_Ena-
bler_Delay_SST))
ISH_Supervise_TSP := ((NOT EDGE((NOT
WarningAreaSM),ISH_Delayed_TSP)) OR (NOT
ISH_Enabler_Delay_TSP))
DELAY(ISH_Enabler_Delay_SST,Protect-
ingAreaSM,(ISH_AtUser_Period_ms_Until_SST /
ISH_SMctrl_Frequency),ISH_Count-
Delay_SST,ISH_Delayed_SST)
DELAY(ISH_Ena-
bler_Delay_TSP,WarningAreaSM,(ISH_AtUser_Peri-
od_ms_Until_TSP / ISH_SMctrl_Frequency),ISH_Count-
Delay_TSP,ISH_Delayed_TSP)
ISH_Enabler_Delay_SST := (NOT ISH_User-
MODE_bNot_IntermitCollab)
ISH_Enabler_Delay_TSP := ((NOT ISH_User-
MODE_bNot_Cooperation) OR (NOT ISH_User-
MODE_bNot_IntermitCollab))
ProtectingAreaSM := (ProtectingArea1 AND Protect-
ingArea2)
i
WarningAreaSM := (WarningArea1 AND WarningArea2)
Default value
650
550
4
1
Product manual - CRB 1300
3HAC083111-001 Revision: B