ABB SafeMove2, Руководство по применению, Страница: 180 / 238

Expected result Action
Tool Orientation Supervision will
trigger. Jog the robot (reorient jogging) to the tolerance
limits of the tool orientation. Verify that Tool Orient-
ation Supervision triggers for violation of both the
tool’s x direction and the tool’s z direction. 4
Tool Speed Supervision validation
Validate all points supervised by Tool Speed Supervision:
• tool center point (TCP)
• robot elbow (near axis 3 according to configuration)
• any configured speed supervision points for the tool
Expected result Action
If not permanently active, activate the activation in-
put signal for Tool Speed Supervision. Deactivate
all other supervision functions that are signal activ-
ated. 1
If applicable, make sure the TCP is inside the Tool
Speed Supervision zone or all axes inside the range. 2
Status signal is 1. If used, verify that the corresponding function active
status signal is set. 3
Tool Speed Supervision will trig-
ger. Create and run a RAPID program with a
MoveL
in-
struction. The
Speed
argument should be slightly
higher than the configured max speed. The
Tool
argument should be set to the tool that is to be su-
pervised by Tool Speed Supervision.
4
Tool Speed Supervision will trig-
ger. Test the speed supervision of all configured speed
supervision points of the tool. How to do this test
depends on the position of the points. Usually a
rotation of the tool can make a configured speed
supervision point move faster than the TCP. Use
MoveAbsJ
, moving axis 5 or 6, to rotate the tool.
5
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180 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
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6 Configuring SafeMove
6.20 Validate the configuration
Continued