ABB SafeMove2, Applications Manual, Page: 85 / 238

The following function is only available for safe ranges:
Description Button
Axis Position Supervision (APO) on page 51 Axis Position Supervision
The following function is only available as a global function:
Description Button
Stand Still Supervision (SST) on page 46 Stand Still Supervision
Note
For information about global functions, see The Global Functions button on
page 81 .
Settings
The following settings are available in the Visual SafeMove Properties browser,
and are common for all safety functions.
Description Setting
Specifies the safety signal that activates the supervision. The signal
is set to 0 for activation. Activation
The setting Permanently active is used for a supervision that is
always active.
Specifies a safety signal that indicates that the selected safety
function is active. The signal is set to 1 when active. Function active status
The setting No signal is used if no signal should be used.
• Category0Stop - Stop by immediate removal of power to the
actuators. Mechanical brakes are applied.
A robot that is stopped with a category 0 stop does not follow
its programmed path while decelerating.
• Category1Stop - Controlled stop with power available to the
actuators to achieve the stop. Power is removed from the
actuators when the stop is achieved.
A robot that is stopped with a category 1 stop follows its
programmed path while decelerating.
• NoStop - Passive monitoring with signaling function only.
Violation action
• Stop type
Specifies a safety signal that indicates that the the axis speed su-
pervision is violated. The signal is set to 0 at violation. Violation action
• Signal
The setting No signal is used if no violation signal should be used.
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.
The following settings are available in the Visual SafeMove Properties browser,
and are individual for each safety function.
Description Setting Function
The minimum and maximum speed for each robot joint. Speed limits ASP
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Application manual - Functional safety and SafeMove2 85
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
4 The Visual SafeMove user interface in RobotStudio
4.4 The Modify tab
Continued