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6.3 Configure system parameters
About the system parameters
The configuration of system parameters required for a robot system should be
made before starting with the safety configuration.
In addition to the system parameters that need to be configured for a robot system
without SafeMove, there are a few parameters in topic
Motion that are specific for
SafeMove. These are described in this section.
Note
It is important to restart the robot controller after changing system parameters,
before configuring SafeMove.
Type Mechanical Unit
All mechanical units for additional axes that shall be supervised must have the
parameters
Activate at Start Up and Deactivation Forbidden set to On. (Supervised
mechanical units must always be active.)
Type Arm
If an axis should be excluded from Cyclic Brake Check, set the parameter Deactivate
Cyclic Brake Check for axis to On.
The maximum working area for additional axes has to be limited according to
limitations specified in section
Work area for additional axes on page 29 . This must
be taken into consideration when entering the parameters Upper Joint Bound and
Lower Joint Bound . (The parameter values in radians or meters on arm side.)
Type Brake
If Cyclic Brake Check is executed on an additional axis, a lowest safe brake torque
must be defined. A 5% margin is added during the test for setting the fail limit. The
parameter used is
Max Static Arm Torque defined in Nm on motor side. A warning
limit is set with a higher torque value (depending on the brake).
Type Motion Planner
If reducing the max speed that SafeMove allows in manual mode, the jogging speed
of the robot has to be reduced to the same value by changing the parameter
Teach
Mode Max Speed .
The parameter Use checkpoint limitation in world enables the robot to limit
checkpoint speed in world coordinate system in teach mode. In this way the
additional speed from, for example, a track motion is added to the checkpoint
speed and the robot speed is reduced. This parameter is useful when combining
SafeMove with a robot on track. SafeMove supervises the speed of check points
in world coordinate system and if this parameter is not active there is a risk that
SafeMove will trigger overspeed error when robot and track is moved
simultaneously.
140 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
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6 Configuring SafeMove
6.3 Configure system parameters