ABB CRB 15000 Product Manual page 138

3 Installation and commissioning
3.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio
Continued
Configuring Cyclic Brake Check
Configuring the supervision functions
Continues on next page
138
2 Set capsule properties for the robot.
Parameter
Radius (mm)
Length (mm)
Start (Flange coordinates)
(mm)
End (Flange coordinates)
(mm)
3 In the Visual SafeMove browser, select the tool and click Capsule in the
Visual SafeMove ribbon tab.
4 Set capsule properties for the tool.
Parameter
Radius (mm)
Length (mm)
Start (Flange coordinates) (mm)
End (Flange coordinates) (mm)
1 In the Visual SafeMove ribbon tab, click Cyclic Brake Check.
2 Select the Warning only, no stop check box, enable CBC for all the joints,
and set other cyclic brake check properties.
Parameter
Max CRC test interval (h)
Pre warning time (h)
Standstill tolerance
Supervision threshold
1 In the Visual SafeMove ribbon tab, choose Create Safe Zone from the Safe
Zone list.
2 Create three zones and rename as follows:
• Transient_Contact_Zone
• Quasi_Static_Contact_Zone_1
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Value
Capsule 1
160.000
228.859
X value -30.356
Y value -22.120
Z value 30.485
X value 186.565
Y value 0
Z value 100.000
X value
Y value
Z value
X value
Y value
Z value
Value
48
6
2
0.02
Capsule 2
140.000
141.421
380.000
30.000
150.000
520.000
10.000
150.000
Value
75
250
0
0
0
0
250
250
Product manual - CRB 15000
3HAC077389-001 Revision: L