ABB CRB 15000 Product Manual page 115

With the FlexPendant, a user can verify local presence with the three-position
enabling device. For robots without a connected FlexPendant, system input signals
can be used to verify local presence.
SafeMove
The functional safety and SafeMove configuration can be done in RobotStudio or
on the FlexPendant. The functionality in RobotStudio is more extensive. Both
interfaces are described in detail in Application manual - Functional safety and
SafeMove. The FlexPendant user interface is also described in this manual, see
The SafeMove configurator app on FlexPendant on page
Singularities
Some positions in the robot working space can be attained using an infinite number
of robot configurations to position and orient the tool. These positions, known as
singular points (singularities), constitute a problem when calculating the robot arm
angles based on the position and orientation of the tool.
Generally speaking, a robot has two types of singularities; arm singularities or
wrist singularities.
The wrist singularities for the GoFa robot are different from other robots, due to
the design.
Product manual - CRB 15000
3HAC077389-001 Revision: L
CAUTION
It is the responsibility of the integrator to implement that local presence is set
up in a correct way.
It is the responsibility of the integrator to implement that single point of control
is set up in a correct way.
Note
The singularities can, in combination with large tools, require thorough validation
of forces if there is a risk of clamping situations.
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3 Installation and commissioning
3.6.1 Information about software for the CRB 15000
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