Measuring Stopping Distance And Time - ABB IRB 1090 Product Specification

1 Description

1.9.2 Measuring stopping distance and time

1.9.2 Measuring stopping distance and time
Preparations before measuring
For measurement and calculation of overall system stopping performance, see
ISO 13855:2010.
The measurement shall be done for the selected stop category. The emergency
stop button on the robot controller is configured for stop category 0 on delivery. A
risk assessment can conclude the need for another stop category. The stop category
can be changed through the system parameter Function (topic Controller, type
Safety Run Chain). In case of deviations of the default configuration of stop category
0, then this is detailed in the product specification for the respective manipulator.
Measuring with TuneMaster
The software TuneMaster can be used to measure stopping distances and times
for ABB robots. The TuneMaster software contains documentation on how to use
it.
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CAUTION
The measurement and calculation of overall stopping performance for a robot
must be tested with its correct load, speed, and tools, in its actual environment,
before the robot is taken into production.
All load and tool data must be correctly defined (weight, CoG, moment of inertia).
The load identification service routine can be used to identify the data.
CAUTION
Follow the safety instructions in the respective product manual for the robot.
1 Download TuneMaster from www.abb.com/robotics, section RobotStudio -
Downloads - RobotWare Tools and Utilities.
2 Install TuneMaster on a computer. Start the TuneMaster app and select Log
Signals.
3 Connect to the robot controller.
4 Define the I/O stop signal to use for measurement, for example, ES1 for
emergency stop.
5 Define the signal number to use for measurement, 1298 for axis position.
The value is given in radians.
6 Start the logging in TuneMaster.
7 Start the test program on the controller.
Tip
Use the tool and zone definitions for the respective variant in this document
to get results that are comparable with this document.
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Product specification - IRB 1090
3HAC088057-001 Revision: B