ABB SafeMove2, Applications Manual, Page: 35 / 238

2 SafeMove functions
2.1 Overview of SafeMove functions
Overview
The SafeMove functions can be divided into the following categories:
• General functions, see:
- Manual Operation Supervision on page 38
- Contact Application Tolerance (CAP) on page 39
• Synchronization functions, see:
- Software synchronization on page 41
- Hardware synchronization on page 42
• Supporting functions, for example verification of brakes, see:
- Safe Brake Ramp on page 44
• Supervision functions, can stop the robot or set a safe output signal, see:
- Stand Still Supervision (SST) on page 46
- Axis Speed Supervision (ASP) on page 48
- Tool Speed Supervision (TSP) on page 49
- Axis Position Supervision (APO) on page 51
- Tool Position Supervision (TPO) on page 53
- Tool Orientation Supervision (TOR) on page 54
- Control Error Supervision on page 55
About the supervision functions
Supervision functions can be activated and deactivated with safe input signals or
be configured to be permanently active.
The supervision functions can stop the robot and additional axes, or set a safe
output signal, if a violation occurs.
Status Signal
The signal is set to 0 for activation. Activation
The signal is set to 1 when active. Function active
status
The signal is set to 0 at violation.
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.
Violation action
• Signal
Local and global functions
There are two types of functions in SafeMove, local functions and global function.
Local functions are active when the robot is in defined parts of its working area, it
could be inside a safe zone or within specified ranges. Those functions are used
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Application manual - Functional safety and SafeMove2 35
3HAC052610-001 Revision: P
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2 SafeMove functions
2.1 Overview of SafeMove functions