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3 Installation and commissioning
3.7.5.2 Configuration of two PROFIsafe-based laser scanners (RobotWare 7.6 or later and PLC acting
as Master)
Continued
Configuring SafeMove
To enable SafeMove, perform the following procedure:
136
The parameters f_dest_address and f_source_address for the SDI are set to
3 and 2, respectively, and for the SDO are set to 5 and 4, respectively.
•
Make sure the address for the SDO signal is the first address of SDO 8 bytes
slot.
•
Create variables.
Name
ProtectingTrigger
WarningTrigger
ProtectingTrigger1
WarningTrigger1
ii
ProtectingArea
iii
WarningArea
SafetyCommunicationEnable
ActivateScanner
ActivateScanner1
i
%I3.X, %I4.X, %I14.X and %I15.X are the addresses of laser scanners; %Q68.X is the address
of the OmniCore controller.
%Q3.0 and %Q14.0 are for activating the monitoring cases of the laser scanners.
ii
Value of ProtectingArea depends on logic AND value of ProtectingTrigger and
ProtectingTrigger1.
iii Value of WarningArea depends on logic AND value of WarningTrigger and WarningTrigger1.
•
Check the communication between the PLC and controller is well and activate
the laser scanner; set up the communication between the laser scanner, PLC
and OmniCore controller.
1 Log in the FlexPendant.
Make sure the user logged in have access grants to lock safety controller
configurations, safety services and software synchronization.
2 Tap SafeMove on the home page.
3 Tap Load in the pop-up message box to confirm loading of template SafeMove
configuration files.
The controller restarts.
4 After the controller is restarted, tap Settings on the home page.
5 Tap Safety Controller.
6 Tap Synchronization in the left pane.
7 Jog the robot to match the Actual Positions values with the Sync Positions
values.
Make sure the values are the same.
8 Tap Synchronize.
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Type
Example address
Bool
%I3.0
Bool
%I4.1
Bool
%I14.0
Bool
%I15.1
Bool
%Q68.0
Bool
%Q68.1
Bool
%Q68.2
Bool
%Q3.0
Bool
%Q14.0
Product manual - CRB 1300
3HAC083111-001 Revision: B
i
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Table of Contents
Troubleshooting
