ABB CRB 15000 Product Manual page 139

Product manual - CRB 15000
3HAC077389-001 Revision: L
3.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio
• Quasi_Static_Contact_Zone_2
3 Set zone properties.
Parameter
Tool Speed Supervision Priority
Reference
Botton, Top (mm) Bottom value
Top value
Vertices X, Y X and Y values for ver-
(mm) tices 1
X and Y values for ver-
tices 2
X and Y values for ver-
tices 3
X and Y values for ver-
tices 4
4 Right click the three zones respectively in the left navigation tree and choose
Tool Speed Supervision. Set following parameters.
Parameter
Violation action Stop category
Speed limits Max speed (mm/s)
5 Right click the Quasi_Static_Contact_Zone_1 and
Quasi_Static_Contact_Zone_2 zones respectively in the left navigation tree
and choose Tool Force Supervision. Set following parameters.
Parameter
Violation action
Force limits
6 Click Tool Position Supervision in the Modify ribbon tab and set the
properties.
Parameter
Activation
Function active status
Violation action
Settings
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3 Installation and commissioning
Value
Transi-
ent_Con-
tact_Zone
BASE
Task frame
50.000
2000.000
-1500, -1500
1500, -1500
1500, 1500
-1500, 1500
Value
Transi-
ent_Con-
tact_Zone
Cat-
egory1Stop
434.000
Stop category
Max force (N)
Value
PermanentlyActive
No signal
Stop category Category1Stop
Signal No signal
Checked the Include upper arm
geometry and Allow inside
check boxes.
Continued
Quasi_Stat- Quasi_Stat-
ic_Con- ic_Con-
tact_Zone_1 tact_Zone_2
BASE BASE
Task frame Task frame
-100.000 0.000
50.000 350.000
-1600, -1600 -100, -200
1600, -1600 100, -200
1600, 1600 100, 150
-1600, 1600 -100, 150
Quasi_Stat- Quasi_Stat-
ic_Con- ic_Con-
tact_Zone_1 tact_Zone_2
Cat- Cat-
egory1Stop egory1Stop
20.000 20.000
Value
Category1Stop
70.000
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