ABB SafeMove2, Applications Manual, Page: 44 / 238

2.4 Supporting functions
2.4.1 Safe Brake Ramp
Safe Brake Ramp
Safe Brake Ramp is an active supervision function that supervises category 1 stops
initiated by the safety controller.
Functionality
When a category 1 stop is triggered by the safety controller, the motors are used
for a controlled deceleration along the planned motion path. Safe Brake Ramp
supervises this deceleration. If the deceleration is too slow, a category 0 stop is
triggered. After 1 second, a category 0 stop is always triggered regardless.
A category 1 stop usually stops faster than the margins for Safe Brake Ramp, so
under normal circumstances Safe Brake Ramp does not trigger.
Note
Depending on the application, Safe Brake Ramp may trigger more often, for
example for tilted robot or heavy load. This results in a category 0 stop.
Note
If Basic joint supervision mode is used, the Safe Brake Ramp supervision is
changed to supervise that all robot axes will stop within exactly 1 second.
Settings
For track motions and other additional axes, the parameters Brake Ramp Limit
and Ramp Delay have to be set. The parameter Start Speed Offset is used for
both manipulator and all additional axes.
Function activation
Safe Brake Ramp cannot be dynamically activated/deactivated. If it is configured
to be active, it is always active.
Dependencies to other supervision functions
Safe Brake Ramp will be used in combination with all other SafeMove functions
using category 1 stops.
Limitations
• Safe Brake Ramp only supervises category 1 stops initiated by the safety
controller. Stops initiated elsewhere, e.g. by the robot controller, are not
supervised.
Related information
Category 1 stop (see Terminology on page 32 )
Continues on next page
44 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
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2 SafeMove functions
2.4.1 Safe Brake Ramp