ABB SafeMove2, Applications Manual, Page: 88 / 238

Description Setting
Excludes the robot from the safety configuration. Exclude from configuration
This setting must be used when configuring a safe fieldbus
on robots that are not supported by SafeMove. This setting
can also be used to exclude supported robots, for example
individual robots in a MultiMove application and robots run-
ning only a safe fieldbus.
See
Overview of SafeMove functions on page 35 .
DANGER
A SafeMove configuration must always be validated to verify
that the desired safety is achieved. If no validation is per-
formed, or the validation is inadequate, the configuration
cannot be relied on for personal safety.
Explanation of Elbow offset
An elbow point is considered for Tool Speed Supervision. The elbow point is given
a default value based on robot model. This value can be changed in the
configuration. Specify the elbow point’s x, y and z offsets relative to the center of
robot axis 3. Note that the X value should always be negative.
z
3
z
b
y
b
x
3
y
3
A A
xx1300002628
Elbow point A
Axis 3 x
3
, y
3
, z
3
Robot base y
b
, z
b
Note
The values that are entered into Elbow Offset should also be entered into the
parameter Arm Check Point , topic Motion . This is to avoid different speed
calculations between the robot controller and SafeMove in manual reduced speed
mode.
For more information, see Technical reference manual - System parameters .
Continues on next page
88 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
4 The Visual SafeMove user interface in RobotStudio
4.5 The Visual SafeMove browser
Continued