ABB SafeMove2, Руководство по применению, Страница: 175 / 238

functions in the range. Perform the range limits validation using one of the following
functions (preferably Axis Position Supervision).
Validate range using Axis Position Supervision
If a range has an Axis Position Supervision function, perform the validation for that
function. See
Axis Position Supervision validation on page 181 .
Validate range using Axis Speed Supervision
Expected result Action
If not permanently active, activate the activation in-
put signal for Axis Speed Supervision for the range.
Deactivate all other supervision functions that are
signal activated. 1
Axis Position Supervision will
trigger when the tested axis reach
its range limit. Run a RAPID program that moves one configured
axis at a speed that is allowed outside the range
but not allowed inside the range. At the same time
the program shall test one axis at a time by moving
it from outside the range to inside the range. 2
Note that the violating speed axis does not have to
be the same axis as the one you are testing the
range limits for.
Repeat this for both lower and upper limit of the
axis range. 3
Repeat this for all axes configured in the range, in-
cluding additional axes. 4
Validate range using Tool Orientation Supervision
Expected result Action
If not permanently active, activate the activation in-
put signal for Tool Orientation Supervision for the
range. Deactivate all other supervision functions
that are signal activated. 1
Jog the robot (reorient jogging) to an orientation
that is allowed outside the range but not inside the
range. 2
Tool Orientation Supervision will
trigger when the tested axis reach
its range limit. Move the robot, one axis at a time, from outside the
range to inside the range. 3
Repeat this for both lower and upper limit of the
axis range. 4
Repeat this for all axes configured in the range, in-
cluding additional axes. 5
Validate range using Tool Speed Supervision
Expected result Action
If not permanently active, activate the activation in-
put signal for Tool Speed Supervision for the range.
Deactivate all other supervision functions that are
signal activated. 1
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Application manual - Functional safety and SafeMove2 175
3HAC052610-001 Revision: P
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6 Configuring SafeMove
6.20 Validate the configuration
Continued