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5.2 Topic I/O System

5.2.1 Collision Avoidance

Parent

Collision Avoidance

is an action value for the parameter

Action

that belongs to the

type

System Input

in the topic

I/O System

Cfg name

CollAvoidance

Description

This parameter is currently applicable only to IRB 14000 (YuMi robot).

The action value

Collision Avoidance

is used to activate the Collision Avoidance

functionality. By default this functionality is off in robots.

Collision Avoidance

monitors a detailed geometric model of the robot. If two bodies

of the model come too close to each other, the controller warns about a predicted
collision and stops the robot. The system parameter

Coll-Pred Safety Distance

determines at what distance the two objects are considered to be in collision, see
Coll-Pred Safety Distance.

Operating manual - IRB 14000

3HAC052986-001 Revision: E

5 System parameters

5.2.1 Collision Avoidance

Содержание IRB 14000

Страница 1: ...ROBOTICS Operating manual IRB 14000 ...

Страница 2: ...Trace back information Workspace R18 1 version a11 Checked in 2018 03 25 Skribenta version 5 2 025 ...

Страница 4: ...BB for losses damages to persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtained from AB...

Страница 5: ...9 3 Using the IRB 14000 29 3 1 Axes and coordinate systems 31 3 2 Jogging 31 3 2 1 What is jogging 33 3 2 2 Motion modes 34 3 2 3 Coordinated jogging 36 3 3 Lead through 37 3 4 Operating modes 39 3 5 Collision avoidance 41 3 6 Collision 42 3 7 Programming and testing 45 3 8 I O signals 46 3 9 User authorization 47 4 Calibration 47 4 1 Introduction 48 4 2 Calibration scale and correct axis position...

Страница 6: ...5 3 6 Limit avoidance distance 66 5 3 7 Collision Detection Memory 67 5 3 8 Friction compensation lead through factor 69 Index 6 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved Table of contents ...

Страница 7: ...tName 3HAC027097 001 Operating manual Getting started IRC5 and RobotStudio 3HAC032104 001 Operating manual RobotStudio 3HAC020738 001 Operating manual Troubleshooting IRC5 3HAC050948 001 Technical reference manual System parameters 3HAC050947 001 Technical reference manual RAPID overview 3HAC050917 001 Technical reference manual RAPID Instructions Functions and Data types 3HAC050946 001 Technical ...

Страница 8: ...ge 42 Added the system parameter Limit avoidance distance on page 65 Minor corrections B Released with RobotWare 6 05 Added the new section Collision on page 41 Added the new parameter Friction compensation lead through factor on page 67 Updated the parameter Collision Detection Memory on page 66 Updated descriptions of stops in section Protective stop and emergency stop on page 22 C Released with...

Страница 9: ...rence information safety standards unit conversions screw joints lists of tools Spare parts list with corresponding figures or references to separate spare parts lists Circuit diagrams or references to circuit diagrams Technical reference manuals The technical reference manuals describe reference information for robotics products for example lubrication the RAPID language and system parameters App...

Страница 10: ... The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 10 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved Product documentation Continued ...

Страница 11: ...It does not cover how to design for safety nor how to install safety related equipment These topics are covered in the Product Manuals supplied with the robot Note The integrator is responsible for the safety of the final application Operating manual IRB 14000 11 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 1 Safety 1 1 About this chapter ...

Страница 12: ...N IEC 61000 6 2 Safety of machinery Electrical equipment of machines Part 1 General requirements EN IEC 60204 1 Degrees of protection provided by enclosures IP code IEC 60529 Protection of electronic devices from electrostatic phenomena General requirements IEC 61340 5 1 2010 i See Deviations from ISO 10218 1 2011 on page 12 ii Only robots with protection Clean Room Deviations from ISO 10218 1 201...

Страница 13: ... functions of the robot e g access codes European standards Description Standard Safety of machinery Ergonomic design principles Part 1 Terminology and general principles EN 614 1 Safety of machinery Two hand control devices Functional aspects Principles for design EN 574 Other standards Description Standard Safety requirements for industrial robots and robot systems ANSI RIA R15 06 Safety standar...

Страница 14: ...nt emergency stop button xx1400001445 Emergency stop button A Other emergency stop devices The plant designer may have placed additional emergency stop devices in convenient places Refer to your plant or cell documentation to find out where these are placed 14 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 1 Safety 1 3 1 Stop the system ...

Страница 15: ...the button to release the latch Reset automatic emergency stop devices All automatic emergency stop devices also have some kind of latching feature that must be released Please consult your plant or cell documentation to see how your manipulator system is configured Recover from emergency stops Action Make sure the hazardous situation that resulted in the emergency stop condition no longer exists ...

Страница 16: ... case of injury always make sure these are treated first Select fire extinguisher Always use carbon dioxide extinguishers when extinguishing fires in electrical equipment such as the robot or the controller Do not use water or foam 16 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 1 Safety 1 3 3 Extinguishing fires ...

Страница 17: ... can be very powerful and can also cause injuries if not operated in a safe manner Watch out for hydraulic and pneumatic systems and live electric parts Even with power off residual energy in such circuits can be very dangerous Disconnected FlexPendant A disconnected FlexPendant should be stored in such a way that it cannot be mistaken for being connected to the controller Custom connections for F...

Страница 18: ...ng a manipulator system Active safeguard mechanisms The safety stop mechanism and the Cartesian speed supervision are always active both while operating in manual and automatic mode Operating speed In manual reduced speed mode the movement is limited to 250 mm s 18 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 1 Safety 1 4 2 About the manual mode ...

Страница 19: ...e performed by personnel with good knowledge of the entire production line not only the malfunctioning manipulator Process disturbance examples A manipulator picking components from a conveyer might be taken out of production due to a mechanical malfunction while the conveyer must remain running in order to continue production in the rest of the production line This means of course that extra care...

Страница 20: ...if the instructions are not followed that can lead to serious injury pos sibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with high voltage electrical units explosion or fire risk risk of poisonous gases risk of crushing impact fall from height etc WARNING xx0100000002 Warns for electrical hazards which could result in severe perso...

Страница 21: ...TE xx0100000004 Describes where to find additional information or how to do an operation in an easier way TIP xx0100000098 Operating manual IRB 14000 21 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 1 Safety 1 5 1 Safety signals in the manual Continued ...

Страница 22: ...rview The protective stops and emergency stops are described in the product manual for the robot 22 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 1 Safety 1 5 2 Protective stop and emergency stop ...

Страница 23: ...ontroller is based on the standard IRC5 controller and contains all functions needed to move and control the robot The robot control software RobotWare supports every aspect of the robot system such as motion control development and execution of application programs communication etc Illustration A B C xx1500000008 Right arm A Left arm B Integrated controller C Operating manual IRB 14000 23 3HAC05...

Страница 24: ...bot programs and so on The FlexPendant consists of both hardware and software and is a complete computer in itself For more information on using the FlexPendant see the section Navigating and handling FlexPendant in Operating manual IRC5 with FlexPendant xx1500000702 24 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 2 Introduction to the IRB 14000 ...

Страница 25: ...formation on RobotWare options see Application manual Controller software IRC5 Note that not all RobotWare op tions are described in this manual Some options are more compre hensive and are therefore described in separate manuals These are extensive packages for specific process application like spot welding arc welding and dispensing They are primarily de signed to improve the process result and ...

Страница 26: ...ped using the RobotStudio SDK With the SDK it is also possible to develop custom SmartComponents which exceed the functionality provided by RobotStudio s base components For more information see Operating manual RobotStudio RobotStudio for real controllers RobotStudio allows for example the following operations when connected to a real controller Installing and modifying systems on RobotWare 6 con...

Страница 27: ...ctionality such as entering manual mode and enabling power to the mechanical unit motors you need a safety device that is connected to the robot using the same plug that alternatively is used to connect the FlexPendant The following RobotStudio Online apps are available in the Microsoft Windows Store Note You must have Windows 8 1 to run these Apps Description RobotStudio Online Apps Manage is a t...

Страница 28: ...ion to view the program code xx1400002511 YuMi is a tool for programming of the new dual arm and collaborative robot YuMi IRB 14000 from ABB xx1500000832 It will help the users to get a fast introduction to robot programming using lead thru and graphical programming 28 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 2 Introduction to the IRB 14000 r...

Страница 29: ...med targets The world coordinate system that defines the robot cell all other coordinate systems are related to the world coordinate system either directly or indirectly It is useful for jogging general movements and for handling stations and cells with several robots or robots moved by external axes The user coordinate system is useful for representing equipment that holds other coordinate system...

Страница 30: ...the base coordinate system pulling the joystick towards you will move the robot along the X axis while moving the joystick to the sides will move the robot along the Y axis Twisting the joystick will move the robot along the Z axis X Z Y xx1500000007 30 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 3 Using the IRB 14000 3 1 Axes and coordinate sys...

Страница 31: ...e Jogging section in Operating manual IRC5 with FlexPendant Note This manual only describes the settings that are specific for the IRB 14000 The jogging window The jogging functions are found in the Jogging window The most commonly used are also available under the Quickset menu xx1500000006 Tip Use the hard buttons on the FlexPendant to toggle between the different motion modes Continues on next ...

Страница 32: ...ently selected property value or setting xx1500000004 Note Note that the operator panel is located under the Quickset menu For more information on how to switch between manual and automatic mode see Operating modes on page 37 32 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 3 Using the IRB 14000 3 2 1 What is jogging Continued ...

Страница 33: ...0 robot with seven axes has one additional motion mode the arm mode All of the other jogging settings are the same as for other robots In arm mode both the tool center point and the orientation of the tool is fixed in space and only the angle of the arm is changed The tool center point is neither rotated nor moved See Jogging in arm mode on page 33 For more information on robot configuration and h...

Страница 34: ... be coordinated That work object will be held and moved by the other arm 1 In this example the right arm is holding the work object and the left arm is coordinated to it PERS wobjdata wobjRight FALSE FALSE ROB_R Define the data of the work object Set hobhold and ufprog to FALSE set ufmec to the other arm 2 0 0 0 1 0 0 0 0 0 0 1 0 0 0 Optional define x y z values for the work object and define a to...

Страница 35: ... one of following ways Click the Turn coordination off button on the Quickset menu Deactivate the work object Deactivate the work object coordinate system Operating manual IRB 14000 35 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 3 Using the IRB 14000 3 2 3 Coordinated jogging Continued ...

Страница 36: ...oo Note If the robot is in motors off mode it will automatically go to motors on when enabling lead through Note If lead through is enabled it will be temporarily disabled during program execution and jogging This means that it is possible to combine lead through jogging and testing the RAPID program without having to disable lead through Note When using lead through it is important that the load ...

Страница 37: ...mode is used when programming and for program verification What is the automatic mode The automatic mode is the operating mode in which the robot control system operates in accordance with the task program with functional safeguarding measures This mode enables controlling the manipulator for example by using the I O signals on the controller An input signal may be used to start and stop a RAPID p...

Страница 38: ...uickset menu see The Quickset menu on page 32 xx1500000005 Note It is also possible to use the predefined I O signals to change and confirm the operating mode see I O signals on page 45 38 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 3 Using the IRB 14000 3 4 Operating modes Continued ...

Страница 39: ...ensitive a warning for collision may occur even if no collision will happen There are three different ways to lower the collision sensitivity to avoid warnings Temporarily disable collision avoidance See Disabling collision avoidance on page 39 Decrease the safety distance for the pair of robot arm links that trigger the false collision warning See Decrease sensitivity between links on page 40 Dec...

Страница 40: ... safetyDistance 0 001 To decrease the safety distance between the left arm s link 5 and the robot base to 2 mm add the following row Pair object1 ROB_L_Link5 object2 Base safetyDistance 0 002 To disable collision avoidance between the left arm s link 2 and the right arm s link 3 add the following row Pair object1 ROB_L_Link2 object2 ROB_R_Link3 exclude true Note The safety distance between two lin...

Страница 41: ... arm keeps moving But for a synchronized movement SyncMoveOn both arms stop in the case of a collision For more information about motion error handling see Technical reference manual RAPID kernel Note In RobotWare versions prior to 6 05 both arms stop in the case of a collision Operating manual IRB 14000 41 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 3 Using the IRB 14000...

Страница 42: ...ees is stored as the first external axis value in the jointtarget data Example The value 135 is the angle of axis 7 in degrees CONST jointtarget myjointtarget 0 130 30 0 40 0 135 9E 09 9E 09 9E 09 9E 09 9E 09 MoveAbsJ myjointtarget NoEOffs v1000 fine tool0 When programming a robtarget for a 7 axis robot the arm angle is stored as the first external axis value in the robtarget data Example The valu...

Страница 43: ...possible to program the two arms in coordinated mode For more information about MultiMove and coordinated jogging see Application manual MultiMove Tip Use the MultiMove wizard in RobotStudio when setting up and programming MultiMove Configuration data When programming linear movements it is important that the programmed positions have similar configurations otherwise it will not be possible to mov...

Страница 44: ...ons The RAPID instruction ContactL is designed to be used for contact applications when the tool held by the robot has to press an object into place For more information see Technical reference manual RAPID Instructions Functions and Data types 44 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 3 Using the IRB 14000 3 7 Programming and testing Conti...

Страница 45: ...hange and confirm the operating mode Description Type Name Enable signal for manual mode output VP_ENABLE Operating mode selector output VP_MODEKEY Motors On push button output VP_MOTOPB Collision avoidance signal Description Type Name Default is 1 meaning that collision avoidance is enabled output Collision_Avoidance Setting this signal to 0 will disable collision avoid ance This is usable for ta...

Страница 46: ...ty functions should have access to the grants Restore a backup and Modify configuration For more information about configuring the User Authorization system and the different controller grants see Operating manual RobotStudio Changing safety related system parameters When changing the safety related system parameters Arm Check Point Speed Limit or Global Speed Limit an event message will take focu...

Страница 47: ...he revolution counters must also be updated after the robot and controller are connected at the first installation To update the revolution counters is a simple procedure which can be performed by the operator see Updating revolution counters on page 50 When to do a fine calibration The system must be fine calibrated when parts affecting the calibration position are replaced on the robot for examp...

Страница 48: ...ales marks This illustration shows the positions of the calibration scales and marks on the robot The number aside of the enlargement corresponds to the axis number xx1500000526 Continues on next page 48 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 4 Calibration 4 2 Calibration scale and correct axis position ...

Страница 49: ... positions in degrees The table below specifies the exact axis positions in degrees IRB 14000 ROB_L IRB 14000 ROB_R Axis 0 0 1 130 130 2 30 30 3 0 0 4 40 40 5 0 0 6 135 135 7 Operating manual IRB 14000 49 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 4 Calibration 4 2 Calibration scale and correct axis position Continued ...

Страница 50: ...on scale and correct axis position on page 48 Release the brakes of the robot arm to be calib rated and move the arm manually so that the synchronization mark of each joint is aligned The robot now stands in its calibration position 2 There is a tolerance for the joint position The edge of a mark should be at least within the area of the opposite mark Step 2 Selecting the Calibration with hall sen...

Страница 51: ...h hall sensors routine CalHall tap 2 to select the function of updating the revolution counters xx1400002694 1 Continues on next page Operating manual IRB 14000 51 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 4 Calibration 4 3 Updating revolution counters Continued ...

Страница 52: ...ble in the first window Tap Next to open the second window where joints 5 6 and 7 are selectable xx1400002695 xx1400002696 Continues on next page 52 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 4 Calibration 4 3 Updating revolution counters Continued ...

Страница 53: ...everal times to calculate and find the exact position where the hall sensor is aligned with the magnet Calibration order axis 1 2 3 4 5 6 7 Note This procedure may take several minutes xx1400002697 Continues on next page Operating manual IRB 14000 53 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 4 Calibration 4 3 Updating revolution counters Continued ...

Страница 54: ... sensors is finished tap OK to confirm xx1400002898 2 Continues on next page 54 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 4 Calibration 4 3 Updating revolution counters Continued ...

Страница 55: ...e The joints prior to the joint that stopped the calibration procedure are calibrated and do not need to be calibrated again Joints coming after the joint that stopped the calibration procedure has not been calibrated Calibration order axis 1 2 3 4 5 6 7 The hall sensor is defect Perform troubleshooting of I O signals Possible replacement of hall sensor may be required Operating manual IRB 14000 5...

Страница 56: ...ion scale and correct axis position on page48 and Updat ing revolution counters on page 50 Verify that the calibration marks for the axes align correctly If they do not then update the revolution counters 6 Using the jogging window Use this procedure to jog the robot to the calibration position for all axes Note Action On the ABB menu tap Jogging 1 Tap Motion mode to select group of axes to jog 2 ...

Страница 57: ... information see Parameter Coll Pred Safety Distance on page 60 Coll Pred Safety Distance Global Speed Limit on page 61 Global Speed Limit Arm Check Point Speed Limit on page 62 Arm Check Point Speed Limit Arm Angle Definition on page 63 Arm Angle Definition Arm Angle Reference Direction on page 64 Arm Angle Reference Direction Limit avoidance distance on page 65 Limit avoidance distance Collision...

Страница 58: ...ance functionality By default this functionality is off in robots Collision Avoidance monitors a detailed geometric model of the robot If two bodies of the model come too close to each other the controller warns about a predicted collision and stops the robot The system parameter Coll Pred Safety Distance determines at what distance the two objects are considered to be in collision see Coll Pred S...

Страница 59: ...It is used together with RPI to calculate the timeout on connections RPI multiplied by Connection Timeout Multiplier gives the maximum time before dropping the connection Note For the IRB 14000 robot YuMi this parameter may have to be tuned depending on your network setup Prerequisites The option EtherNet IP Scanner Adapter must be installed Allowed values Allowed values are 4 8 16 32 64 128 256 5...

Страница 60: ...l Pred Safety Distance determines at what distance two geometric objects for example robot links are considered to be in collision Allowed values A value between 0 001 to 1 meter Default value is 0 01 meter Related information Collision Avoidance on page 58 60 Operating manual IRB 14000 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights reserved 5 System parameters 5 3 1 Coll Pred Safety...

Страница 61: ...otify the user of the change The user then has to verify that the intended setting was made Limitations Global Speed Limit is only used for the following robots IRB 14000 Setting this parameter for any other robot will not have any effect Global Speed Limit can only be used to lower the speed limit from maximum speed limit for each robot type If a higher value is set the maximum value for the robo...

Страница 62: ...he user then has to verify that the intended setting was made Limitations Arm Check Point Speed Limit is only used for the following robots IRB 14000 Setting this parameter for any other robot will not have any effect Arm Check Point Speed Limit can only be used to lower the speed limit from a maximum speed limit for each robot type If a higher value is set the maximum value for the robot type is ...

Страница 63: ...ys use the new arm angle definition The old definition is kept only for backwards compatibility and can in some cases lead to non optimal movements of the robot Limitations Arm Angle Definition is only applicable for 7 axis robots Note Arm Angle Definition parameter is not supported in RW 6 07 or later versions Allowed values New or Old The default value is New Related information Operating manual...

Страница 64: ...CP on the line and linear movement on and across this line will not work If linear movement in this area of the workspace is important for your application then you can configure the robot to use another reference direction The choices available are the world Y axis the world Z axis and the line passing through axis 1 of the robot Note A RAPID program created with one value for this parameter will...

Страница 65: ...ically adjusting the arm angle Usage The singularities that can be handled are where axis 2 or axis 5 is equal to zero Allowed values A value between 1 to 100 radians The default value is 0 017453 radians Setting a negative value will disable the functionality Related information Operating manual IRB 14000 Operating manual IRB 14000 65 3HAC052986 001 Revision E Copyright 2015 2018 ABB All rights r...

Страница 66: ...the IRB 14000 robot the default value is 0 s and hence the robot does not back off Setting the value to 0 s disabling backing after collision may leave the robot in a state with residual forces remaining after a collision This could trigger new collisions when trying to move away from that position To move away robustly after a collision the following are some of the recommended solutions Enable l...

Страница 67: ...efinition The robot can then start to drift by itself Setting the value to 0 removes all friction compensation in lead through mode Note This parameter does not need a reboot to apply the changes Hence the tests of different levels can be done directly after changing the parameter value Limitations Friction compensation lead through factor is only used for the following robots IRB 14000 Configurin...

Страница 68: ...This page is intentionally left blank ...

Страница 69: ...ks 45 J jogging 31 jogging window 31 joystick directions 29 L lead through 36 load 36 M MoveAbsJ instruction 56 O operator panel 38 P payload 36 product classes 25 protection standards 12 protective equipment 17 protective wear 17 Q Quickset menu 32 R RobotStudio overview 26 RobotStudio Oline Apps 27 Calibrate 27 Jog 28 Manage 27 Operate 28 Tune 28 YuMi 28 RobotWare 25 S safety signals 20 signals ...

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Страница 72: ...265 N 4349 BRYNE Norway Telephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics and Motion 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC052986 001 Rev E en Copyright 2015 2018 ABB All rights reserved ...

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