ABB SafeMove2, Applications Manual, Page: 46 / 238

2.5 Supervision functions
2.5.1 Stand Still Supervision (SST)
Stand Still Supervision
Stand Still Supervision is an active supervision function ensuring that all supervised
axes are standing still.
Functionality
Stand Still Supervision can supervise that a robot is standing still even if the servo
and drive system are in regulation. If any supervised axis starts to move, Stand
Still Supervision will cause a category 0 stop.
When Stand Still Supervision is active for all axes (including all additional axes),
the operator is safe from harm related by robot motion when entering the working
space of the robot.
8 different sets of up to 9 axes can be defined. When Stand Still Supervision is
activated for a set, all axes in that set are supervised.
DANGER
Working under an axis affected by gravity which has no balancing may require
a safety performance level (PL) "e", which is not provided by SafeMove. If this
kind of work is intended, the risk must be added to the risk analysis of the
installation and eliminated by other means (for example additional mechanical
stops).
DANGER
It is not allowed to enter the working space of the robot if a Contact Application
Tolerance function is active, even if a Stand Still Supervision function is active
at the same time.
DANGER
For additional axes, a standstill reference tolerance must be configured.
Note
If the robot tries to move due to an error during active Stand Still Supervision,
SafeMove will detect this and initiate a stop. Since there is a certain reaction
time involved a slight jerk may occur.
Settings
The following parameters can be configured for Stand Still Supervision:
• Assignment of safe inputs for activation of Stand Still Supervision.
Continues on next page
46 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
2 SafeMove functions
2.5.1 Stand Still Supervision (SST)