ABB CRB 15000, Руководство по эксплуатации продукта, Страница: 114 / 1096

3.6 Configuring the software
3.6.1 Information about software for the CRB 15000
Overview
CRB 15000 is designed to simplify collaborative applications. Therefore some
software features work somewhat different compared with standard industrial
robots. Some of them are listed in this section.
How to configure RobotWare is described in Operating manual - Integrator's guide
OmniCore .
Emergency stops
The configuration of emergency stops is stop category 1 and cannot be changed.
Collision detection
As default CRB 15000 will have collision detection active at stand still. It also has
another stop ramp compared to other robots to be able to release clamping forces.
Note
If the tool data is wrong, false collisions might be triggered and the robot arm
might drop a short distance during the stop ramp.
Recommendations for configuration of single point of control
Single point of control is the ability to operate the robot such that initiation of robot
motion is only possible from one source of control and cannot be overridden from
another initiation source.
In manual mode, the FlexPendant always has highest priority and can be used to
start and stop program execution, jog, and configure the system. Other clients can
connect to the robot, for example RobotStudio.
In automatic mode, there is no difference in priority between clients connected to
the robot. The FlexPendant can always be used to start or stop program execution.
Any remote client must have the user grant UAS_REMOTE_START_STOP_IN_AUTO
to be able to start or stop program execution in automatic mode. Any user with
this grant should be located within eyesight of the robot, unless there are presence
sensing devices installed that can prevent potentially hazardous situations.
Local presence and local client
As a rule of thumb, having local presence near the robot is recommended when
changing operating mode, starting or stopping execution, or jogging. This is to
ensure that no one else is near the robot before doing anything that can cause a
potentially hazardous situation.
A local client is a client connected directly to the robot controller, not over the
network. The FlexPendant is always local client.
To become logged in as local client you must have local presence. By design, only
one client can be local at any given time.
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114 Product manual - CRB 15000
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.6.1 Information about software for the CRB 15000