ABB SafeMove2, Руководство по применению, Страница: 222 / 238

10.5.3.5 Tool
Overview
The
Tool
tag contains information about the tools.
A tool consists of a set of shapes and a set of points. The shapes are used by the
function Tool Position Supervision and the points by the function Tool Speed
Supervision.
Up to 16 tools can be defined.
ID
The
id
tag contains the ID of the tool.
Each tool must have a unique ID between 1 and 16. The ID is not visible to the
user.
Name
The
name
tag contains the name of the tool.
Tool geometry
The
ToolGeometry
tag defines the number of shapes.
A tool consists of up to four shapes, so called sphere-swept volumes. A shape can
be a sphere, a capsule, or a rounded box (lozenge).
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The shapes are generated by a sphere with a certain radius in combination with a
point, a line, or a plane, respectively.
The sphere is trivially generated by placing the generating sphere on a point. A
capsule is generated by letting the center of the generating sphere travel along a
line. A rounded box is generated by letting the center point of the generating sphere
travel along a plane.
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222 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
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10 Reference information
10.5.3.5 Tool