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10.5.3.3 Robot data
Overview
The
Robot
tag contains information about the robot.
Name
The
name
tag is
ROB_1
for a controller with only one manipulator. For a MultiMove
system the subsequent robot is called
ROB_2
.
Robot moved by
For track mounted robots, the
movedBy
tag specifies the name of the external axis
that moves the robot.
Base frame
The
Baseframe
tag specifies the robot mounting position relative to the controller
world coordinate system.
When importing a SafeMove geometry configuration file into Visual SafeMove, the
base frame values contained in the file will be replaced by the base frame of the
connected controller when creating the complete safety configuration. When
exporting the file, the
Baseframe
tag will contain the values of the actual base
frame of the connected robot.
Elbow offset
The
ElbowOffset
tag defines the point on the robot elbow that is speed monitored.
It should be the top-most point of the upper arm including any cable packages or
additional equipment.
Upper arm geometry
The
UpperArmGeometry
tag defines the encapsulation of the upper arm.
The upper arm may optionally be encapsulated by up to two shapes, so-called
sphere-swept volumes, and used in combination with a tool encapsulation for the
function Tool Position Supervision. The shapes should include the upper arm of
the robot including any cable packages or additional arm-mounted equipment. The
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Application manual - Functional safety and SafeMove2 219
3HAC052610-001 Revision: P
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10 Reference information
10.5.3.3 Robot data