ABB CRB 15000, Product Manual, Page: 151 / 1096

• Create variables.
Example address
i
Type Name
%I3.0 Bool ProtectingTrigger
%I4.1 Bool WarningTrigger
%Q68.0 Bool ProtectingArea
%Q68.1 Bool WarningArea
%Q68.2 Bool SafetyCommunicationEnable
%Q3.0 Bool ActivateScanner
i
%I3. X and %I4. X are the addresses of the laser scanner; %Q68. X is the address of the
OmniCore controller.
%Q3.0 is for activating the monitoring cases of the laser scanner.
• Check the communication between the PLC and controller is well and activate
the laser scanner; set up the communication between the laser scanner, PLC
and OmniCore controller.
Configuring SafeMove
To enable SafeMove, perform the following procedure:
1 Log in the FlexPendant.
Make sure the user logged in have access grants to lock safety controller
configurations, safety services and software synchronization.
2 Tap SafeMove on the home page.
3 Tap Load in the pop-up message box to confirm loading of template SafeMove
configuration files.
The controller restarts.
4 After the controller is restarted, tap Settings on the home page.
5 Tap Safety Controller .
6 Tap Synchronization in the left pane.
7 Jog the robot to match the Actual Positions values with the Sync Positions
values.
Make sure the values are the same.
8 Tap Synchronize .
Product manual - CRB 15000 151
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.6.7.2 Configuration of one PROFIsafe-based laser scanner (RobotWare 7.6 or later and PLC acting
as Master)
Continued