ABB RobotStudio 2022.1, Руководство пользователя

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Known Limitations
Visual SafeMove
E10 virtual controller not supported
It is not possible to create a valid safety configuration file for a virtual controller where the controller
model is E10. The device mapping of signals on the internal feedback device will be incorrect. There is no
information about this limitation inside Visual SafeMove because it is currently not possible to know the
model of a virtual controller.
Configurations with Basic Joint Supervision disabled can be created
For SCARA robots, like for example IRB 920T, only the limited functionality Basic Joint Supervision is
supported by the Safety Controller. Visual SafeMove allows the full set of functionality to be configured
even though it is not supported. Writing a safety configuration file with Basic Joint Supervision disabled
results in an error since it is invalid. Workaround: Enable the option Basic Joint Supervision on the robot
node in Visual SafeMove.
Current joint values cannot be retrieved when external axes are included in the configuration
It is not possible to retrieve the current joint values using the Read current values function on the
Synchronization node when external axes are included in the configuration. Workaround: Read the
values from the FlexPendant and update manually.
The safety controller is not forwards compatible
When writing a safety configuration file of a later version than the current safety controller image, then
RobotStudio will generate an error of type “C00FFFE: Unknown error
(0xC004FFFE)LoadSafetyConfigurationFile”. (Note that this error may occur for other reasons as well
and is thus not unique to this case).
The function Get vectors from active tool reads values from the robot
The idea behind this function is to to read the data from the currently active tool of the robot in order
to define a corresponding SafeMove Tool in the safety configuration. That is the reason why the tool
information is read from the robot and not the safety controller. The tools of the safety configuration
are visible the Visual SafeMove itself and does not need a special function to be retrieved.
Protected checksum may change when upgrading RW from 6.04.0x to 6.05 or 6.06
The protected checksum will change if the input and output modules of the internal device is protected.
The reason is that two attributes change order.
No visualization of Safe Range for external axes in Visual SafeMove for SafeMove Basic or Pro
When Safe Range is used to limit the axis range of an external axis such as a track motion, there will be
no visual indication of the actual range in the graphic view.
Visual SafeMove windows can be re-opened from the Quick Access Toolbar menu
Any windows that are closed can be re-opened using the Quick Access Toolbar menu, as the command
Default Layout does not recover these windows.
SafeMove Tool Zone visualization in Online Monitor for robots with external axes
Only TCP robots and track mounted robots will be visualized in the Online Monitor, no other external
axes or positioners. As a consequence, the Online Monitor may show the robot in a non-violating
position, even though the safety controller has detected a safety violation and stopped the robot.
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