ABB SafeMove2, Applications Manual, Page: 177 / 238

Validate zone using Tool Orientation Supervision
Expected result Action
If not permanently active, activate the activation in-
put signal for Tool Orientation Supervision for the
zone. Deactivate all other supervision functions that
are signal activated. 1
Jog the robot (reorient jogging) to an orientation
that is allowed outside the zone but not inside the
zone. 2
Tool Orientation Supervision will
trigger when the TCP reach the
zone limit. Move the TCP from outside the zone to inside the
zone. 3
Repeat this for at least two points on each side of
the zone, including top and bottom. 4
If the system is equipped with a track motion, check
that the tool zone border is in correct position for
different positions of the track motion. 5
Validate zone using Tool Speed Supervision
Expected result Action
If not permanently active, activate the activation in-
put signal for the Tool Speed Supervision for the
zone. Deactivate all other supervision functions that
are signal activated. 1
Tool Speed Supervision will trig-
ger when one of the configured
speed supervision points (or the
TCP) reach the zone limit. Run a RAPID program that moves the tool at a
speed that is allowed outside the zone but not al-
lowed inside the zone. The tool shall be moved at
this speed from outside the zone to inside the zone. 2
Repeat this for at least two points on each side of
the zone, including top and bottom. 3
If the system is equipped with a track motion, check
that the tool zone border is in correct position for
different positions of the track motion. 4
Validate zone using Axis Speed Supervision
Expected result Action
If not permanently active, activate the activation in-
put signal for Axis Speed Supervision for the zone.
Deactivate all other supervision functions that are
signal activated. 1
Axis Position Supervision will
trigger when the TCP reach the
zone limit. Run a RAPID program that moves one configured
axis at a speed that is allowed outside the zone but
not allowed inside the zone. At the same time the
program shall move the TCP from outside the zone
to inside the zone. 2
Repeat this for at least two points on each side of
the zone, including top and bottom. 3
If the system is equipped with a track motion, check
that the tool zone border is in correct position for
different positions of the track motion. 4
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Application manual - Functional safety and SafeMove2 177
3HAC052610-001 Revision: P
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6 Configuring SafeMove
6.20 Validate the configuration
Continued