ABB SafeMove2, Руководство по применению, Страница: 216 / 238

10.5.3 Explanation of the configuration file
10.5.3.1 Introduction
Overview
The purpose of the SafeMove geometry configuration file is to support data related
to the supervision functions:
• Tool Position Supervision
• Tool Speed Supervision
• Tool Orientation Supervision
The file can contain the tool encapsulation, speed supervision points, and the zone
definitions. This data is necessary, but not sufficient, to specify the functions. To
completely specify the functions then also activation signals, speed limits, and
whether a zone is an inside or an outside zone must be specified and added in
Visual SafeMove.
Summary
Description XML-tag
1-2 per controller
DriveModuleConfiguration
0-1 per
DriveModuleConfiguration
Robot
Baseframe
0-1 per
Robot
ElbowOffset
0-1 per
Robot
UpperArmGeometry
0-2 per
Robot
0-3 per
DriveModuleConfiguration
ExternalAxis
BaseFrame
1 per
ExternalAxis
0-16 per
DriveModuleConfiguration
Tool
TCP
1 per
Tool
ToolOrientation
1 per
Tool
ToolGeometry
0-4 per
Tool
SpeedSupervisionPoint
0-8 points per
Tool
Name
1 per
Tool
0-16 per
DriveModuleConfiguration
SafeZone
Point
4-24 per
SafeZone
Name
1 per
SafeZone
XML schema
There is an XML schema available that defines the exact syntax and content of the
interface file. This is stored in an xsd-file and can be used to validate the content
of the xml-file.
The template file SimplifiedSafetyControllerSchema.xsd can be obtained from the
PC or the robot controller.
• In the RobotWare installation folder in RobotStudio : ...\RobotPackages\
RobotWare_RPK_<version>\utility\SafeMove2\
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216 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
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10 Reference information
10.5.3.1 Introduction