ABB CRB 15000, Руководство по эксплуатации продукта, Страница: 138 / 1096

2 Set capsule properties for the robot.
Value Parameter
Capsule 2 Capsule 1
140.000 160.000 Radius (mm)
141.421 228.859 Length (mm)
380.000 -30.356 X value Start (Flange coordinates)
(mm)
30.000 -22.120 Y value
150.000 30.485 Z value
520.000 186.565 X value End (Flange coordinates)
(mm)
10.000 0 Y value
150.000 100.000 Z value
3 In the Visual SafeMove browser, select the tool and click Capsule in the
Visual SafeMove ribbon tab.
4 Set capsule properties for the tool.
Value Parameter
75 Radius (mm)
250 Length (mm)
0 X value Start (Flange coordinates) (mm)
0 Y value
0 Z value
0 X value End (Flange coordinates) (mm)
250 Y value
250 Z value
Configuring Cyclic Brake Check
1 In the Visual SafeMove ribbon tab, click Cyclic Brake Check .
2 Select the Warning only, no stop check box, enable CBC for all the joints,
and set other cyclic brake check properties.
Value Parameter
48 Max CRC test interval (h)
6 Pre warning time (h)
2 Standstill tolerance
0.02 Supervision threshold
Configuring the supervision functions
1 In the Visual SafeMove ribbon tab, choose Create Safe Zone from the Safe
Zone list.
2 Create three zones and rename as follows:
• Transient_Contact_Zone
• Quasi_Static_Contact_Zone_1
Continues on next page
138 Product manual - CRB 15000
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio
Continued