ABB SafeMove2, Руководство по применению, Страница: 178 / 238

Validate zone using Contact Application Tolerance
Expected result Action
Make sure that Soft Servo is active and set the
stiffness to a value that is allowed outside the zone
but not allowed inside the zone. 1
If not permanently active, activate the activation in-
put signal for Contact Application Tolerance for the
zone. Deactivate all other supervision functions that
are signal activated. 2
Control Error Supervision will
trigger when the reference posi-
tion of the TCP reach the zone
limit. Run a RAPID program moving the TCP with maxim-
um speed allowed (e.g.
vmax
). The tool shall be
moved at this speed from outside the zone to inside
the zone.
3
Repeat this for at least two points on each side of
the zone, including top and bottom. 4
If the system is equipped with a track motion, check
that the tool zone border is in correct position for
different positions of the track motion. 5
Validate the tools
If no tool changer is used, the tool geometry, speed supervision points and TCP
are validated in the respective functions. If more than one tool is configured, each
tool must be validated according to the following.
Note
It is not necessary to validate each tool with each range/zone. It is enough if all
ranges/zones are validated with one tool and all tools are validated with one
range/zone.
Validate tool geometry
Expected result Action
If not permanently active, activate the activation in-
put signal for the Tool Position Supervision set to
use. Deactivate all other supervision functions that
are signal activated. 1
Tool Position Supervision will
trigger. Move the robot so that the configured geometry
surrounding the tool crosses the border of the con-
figured zone. Verify that Tool Position Supervision
triggers when the border is crossed. 2
Rotate the tool and repeat the test with different
parts of the tool crossing the zone border. 3
Make sure Tool Position Supervision always triggers
on the surrounding geometry before the tool itself
reach the zone border.
Validate tool speed supervision point
For each tool, perform the validation for Tool Speed Supervision with that tool. See
Tool Speed Supervision validation on page 180 .
Continues on next page
178 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
6 Configuring SafeMove
6.20 Validate the configuration
Continued