ABB CRB 15000 Product Manual page 149

3.6.7.2 Configuration of one PROFIsafe-based laser scanner (RobotWare 7.6 or later and PLC acting
GSD file
The GSD file, GSDML-V2.xx-ABB-Robotics-OmniCore-YYYYMMDD.xml, can be
obtained from the RobotStudio or the OmniCore controller.
Configuring the laser scanner
Protection fields
Two protection fields are defined to provide a progressive safety protection. The
following figure illustrates the field ranges.
xx2200000301
A
B
Product manual - CRB 15000
3HAC077389-001 Revision: L
• In the RobotWare installation folder in RobotStudio:
...\DistributionPackages\ABB.RobotWare-x.x.x-xxx\RobotPackages
\RobotControl_x.x.xxx\utility\service\GSDML\
• On the OmniCore Controller:
...\products\RobotControl_x.x.x\utility\service\GSDML\
Field Device
mapping
(default)
WarningArea 1
ProtectingArea 0
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3 Installation and commissioning
Lamp col- Description
or
Yellow The warning area field defines the largest
range, but it shall be within the scanning
range of the scanner.
Within in this field range, the lamp unit on
the process hub lights up yellow, and the
robot movement speed reduces to a lower
speed that is set by the user.
Red Within this field range, the lamp unit turns
to red and the robot movement speed is
reduced to 0. The robot stands still.
as Master)
Continued
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