
7 Running in production
7.1 Reaction time
Stopping response time
When a stopping supervision function is triggered, the reaction time until a stop
is ordered is maximum 4 ms. This reaction time must be added to the stopping
time of the manipulator, specified in the product specification for the manipulator,
to get the complete stopping time for the manipulator.
Output signal response time
The time from when the robot makes a safety violation, for example entering a
forbidden zone, until a safe Ethernet signal is generated shall not exceed 24 ms.
Note
The time depends on the cycle time on the communication with the PLC. 24 ms
is the case when the cycle time is set to 8 ms.
Note
When a signal is set to 0 at violation, it will remain 0 for at least 250 ms even
after the violation has ended.
Application manual - Functional safety and SafeMove2
189
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
7 Running in production
7.1 Reaction time
Summary of Contents for SafeMove2
Page 1: ...ROBOTICS Application manual Functional safety and SafeMove2 ...
Page 8: ...This page is intentionally left blank ...
Page 16: ...This page is intentionally left blank ...
Page 34: ...This page is intentionally left blank ...
Page 56: ...This page is intentionally left blank ...
Page 72: ...This page is intentionally left blank ...
Page 112: ...This page is intentionally left blank ...
Page 194: ...This page is intentionally left blank ...
Page 196: ...This page is intentionally left blank ...
Page 234: ...This page is intentionally left blank ...
Page 237: ......