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4.7 Simulating SafeMove
About the Auto Generate From Simulation group
Automatic generation of safety parameters from simulation is a quick and easy
way of creating zones and axes ranges based on a simulated path in RobotStudio.
The function creates a zone or axes range that encapsulate the recorded simulated
path.
A prerequisite is that there has to be at least one SafeMove tool in the configuration,
and a simulation has to be defined.
Note
The simulation functions are only available when running a RobotStudio station.
The Record Simulation button
A simulation is setup, started, and stopped using the standard RobotStudio
commands. For more information, see
Operating manual - RobotStudio .
The simulation has to be recorded to be able to automatically generate safe
functions from the simulation. Before the simulation is started, the
Record
simulation button in the Visual SafeMove tab must be pressed.
When there is a recorded simulation available, the Safe Zone , Safe Range , and
Tool Orientation Supervision buttons become active.
The Safe Zone button
From the simulation it is possible to create a Tool Position Supervision and/or a
Tool Speed Supervision .
The function creates a safe zone that encapsulates the path of the tool, or the tool
and elbow, from the recorded simulation.
Description Function
Create a new safe zone that encapsulates the path of the tool from
the recorded simulation. Tool only
Create a new safe zone that encapsulates the path of the tool and
elbow from the recorded simulation. Tool and elbow
The Safe Range button
From the simulation it is possible to create an Axis Position Supervision and/or
an Axis Speed Supervision .
The function creates a safe range with the max and min values of each joint set to
the max and min value from the recorded simulation.
The Tool Orientation Supervision button
From the simulation it is possible to create a Tool Orientation Supervision .
The function creates a Tool Orientation Supervision where the tolerances around
the x and z axis of the tool are calculated from the simulation.
Application manual - Functional safety and SafeMove2 109
3HAC052610-001 Revision: P
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4 The Visual SafeMove user interface in RobotStudio
4.7 Simulating SafeMove