ABB CRB 1100 Product Manual page 115

Product manual - CRB 1100
3HAC078007-001 Revision: J
3.7.4.2 Configuration of SafeMove using Visual SafeMove in RobotStudio
• ISH_Delay_TSP
• ISH_EnableDelay_Protecting
• ISH_EnableDelay_Warning
• ISH_Combination_Protecting
• ISH_Combination_Waning
In which, the expressions ISH_Combination_Protecting and
ISH_Combination_Waning are required only when two PROFIsafe-based
laser scanners are connected.
4 At the bottom of the Safe IO Configuration page, type the corresponding
logical expression in the text box for each expression and click Create
signals.
Expression
ISH_Activate_SST
ISH_Activate_TSP
ISH_Delay_SST
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3 Installation and commissioning
Logic
Valid for scenarios with 1 PROFIsafe-based laser
scanner connected
ISH_Supervise_SST := ((NOT EDGE((NOT Protect-
ingArea1),ISH_Delayed_SST)) OR (NOT ISH_Ena-
bler_Delay_SST))
Valid for scenarios with 2 PROFIsafe-based laser
scanners connected
ISH_Supervise_SST := ((NOT EDGE((NOT Protect-
ingAreaSM),ISH_Delayed_SST)) OR (NOT ISH_Ena-
bler_Delay_SST))
Valid for scenarios with 1 PROFIsafe-based laser
scanner connected
ISH_Supervise_TSP := ((NOT EDGE((NOT
WarningArea1),ISH_Delayed_TSP)) OR (NOT ISH_Ena-
bler_Delay_TSP))
Valid for scenarios with 2 PROFIsafe-based laser
scanners connected
ISH_Supervise_TSP := ((NOT EDGE((NOT
WarningAreaSM),ISH_Delayed_TSP)) OR (NOT
ISH_Enabler_Delay_TSP))
Valid for scenarios with 1 PROFIsafe-based laser
scanner connected
DELAY(ISH_Enabler_Delay_SST,Protect-
ingArea1,(ISH_AtUser_Period_ms_Until_SST /
ISH_SMctrl_Frequency),ISH_Count-
Delay_SST,ISH_Delayed_SST)
Valid for scenarios with 2 PROFIsafe-based laser
scanners connected
DELAY(ISH_Enabler_Delay_SST,Protect-
ingAreaSM,(ISH_AtUser_Period_ms_Until_SST /
ISH_SMctrl_Frequency),ISH_Count-
Delay_SST,ISH_Delayed_SST)
Continued
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