ABB CRB 15000 Product Manual page 137

Creating encapsulation
Product manual - CRB 15000
3HAC077389-001 Revision: L
3.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio
Expression
ISH_Delay_TSP
ISH_EnableDelay_Protect-
i
ing
ISH_EnableDelay_Warning
i
ISH_Combination_Protect-
ii
ing
ISH_Combination_Waning
ii
i
Required no matter one or two PROFIsafe-based laser scanners are connected.
ii
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
1 In the Visual SafeMove browser on the left pane of the window, select the
robot (ROB_1) and click Capsule in the Visual SafeMove ribbon tab to create
two capsule geometries for the robot.
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3 Installation and commissioning
Logic
Valid for scenarios with 1 PROFIsafe-based laser
scanner connected
DELAY(ISH_Ena-
bler_Delay_TSP,WarningArea1,(ISH_AtUser_Peri-
od_ms_Until_TSP / ISH_SMctrl_Frequency),ISH_Count-
Delay_TSP,ISH_Delayed_TSP)
Valid for scenarios with 2 PROFIsafe-based laser
scanners connected
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)
WarningAreaSM := (WarningArea1 AND WarningArea2)
Default value
650
550
4
1
Continued
Continues on next page
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