ABB SafeMove2, Applications Manual, Page: 36 / 238

for setting a speed limitation in specific areas (Tool Speed Supervision) or for
protecting equipment being hit by the robot (Tool Position Supervision).
Global functions are general functions that are active regardless of the position of
the robot. It could for example be a general speed limitation activated when the
cell door is opened.
For more information, see The Global Functions button on page 81 .
Combining functions
The supervision functions can be used separately or in a variety of combinations.
Basic joint supervision mode
Certain combinations of robots and external axes are normally not supported by
SafeMove, such as robots mounted on a gantry or other non-track external axes.
In this case, Basic joint supervision mode can be used, which will allow a limited
set of safety supervision functions. In Basic joint supervision mode, no safe zones
or tool supervision functions are allowed.
In addition, there are changes to some internal SafeMove supervision functions:
• The manual reduced speed supervision of the TCP, wrist center point, and
elbow are disabled. Instead, axis speeds are supervised, with limits set to
approximate a Cartesian speed limit.
The user is responsible for validating that this speed limit satisfies the
requirements for safe manual mode operation.
• The Safe Brake Ramp supervision for the robot during a category 1 stop is
changed, so that SafeMove supervises that all robot axes will stop within 1
second.
For information on how to select Basic joint supervision mode, see Robot
parameters node on page 87 .
Exclude from configuration
In the implementation of the safety controller, some safety supervision functions
are included in the system even if the SafeMove option is not selected. This includes
Safe Brake Ramp, Manual Operation Supervision, and Control Error Supervision.
The included safety supervision functions require synchronization of the safety
controller and that the configuration is validated and locked.
In some cases it is necessary to exclude the safety settings from the configuration.
For example when configuring a safe fieldbus on robots that are not supported by
SafeMove. This is done with the setting
Exclude from configuration . This setting
can also be used to exclude supported robots, for example individual robots in a
MultiMove application, and supported robots running only a safe fieldbus.
When excluding the safety supervision from the configuration, the robot behaves
as if no safety module is installed. That means:
• Instead of Safe Brake Ramp a one second delay is used between the request
of a category 1 stop and the completing category 0 stop.
• No safety supervision of manual reduced speed.
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36 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
2 SafeMove functions
2.1 Overview of SafeMove functions
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