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6.13 Configure the ranges
Creating a range
DANGER
When setting range limits, brake distances must be taken into consideration, so
that the SafeMove functions are configured with enough margin. If the robot hits
the range limit, it starts to brake and needs the brake distance to stop. This occurs
outside the allowed range.
Note that if the robot starts accelerating strongly just before reaching a configured
range limit, there will occur a speed overshoot before decelerating. This may
result in a somewhat increased speed and extended braking distance compared
to a smoother speed situation.
Note/illustration Action
A range of default size is shown for each
axis in the graphics window. In the Visual SafeMove ribbon, click on
Safe Range .
1
Specify Upper bound and Lower bound
for each axis.
2
If an axis should be excluded from the
safe range, clear the check box
Enabled
for that axis.
3
To supervise the inverted range for an
axis (below
Lower bound and above Up-
per bound ) select the check box Inverted
for that axis.
4
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Tip
To change the name of a range, right-click on the range in the Visual SafeMove
browser, select Rename and type the desired name.
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Application manual - Functional safety and SafeMove2 157
3HAC052610-001 Revision: P
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6 Configuring SafeMove
6.13 Configure the ranges