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10.5.3.6 Safe zones
Overview
The
SafeZone
tag contains information about the safe zones.
The functions Tool Position Supervision, Tool Orientation Supervision, and Tool
Speed Supervision are based on zones. Up to 16 safe zones can be defined.
ID
The
id
tag contains the ID of the zone.
Each zone 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 zone.
The name will be visible to the user and presented in the controller event log in
case of a safety violation.
Top and bottom
The
top
and
bottom
tags defines the top and bottom of the zone and must be
specified.
Points
The
Point
tag defines the points of the zone.
A zone is defined by minimum 4 up to 24 points in the X-Y plane of the controller
world coordinate system in addition to the bottom and top in the Z direction.
Speed limit priority
The
speedLimitPriority
tag defines the speed limit priority of the zone.
Zones can have three different speed limit priorities:
BASE
,
NORMAL
, and
OVERRIDE
.
Zones can be nested, which means that one zone can overlap or be contained in
another zone. Nested zones with different speed priorities can be used to define
tighter robot cells without sacrificing cycle time. In particular, the stopping distances
can be kept low by defining a large
BASE
zone with low speed limits and interior
zones with increasing priorities and speed limits.
The interior, high speed zones, ensure high robot productivity and low cycle times.
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Application manual - Functional safety and SafeMove2 225
3HAC052610-001 Revision: P
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10 Reference information
10.5.3.6 Safe zones