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2.2.2 Contact Application Tolerance (CAP)
Contact Application Tolerance
Contact Application Tolerance relaxes the supervision of the servo lag if either:
• all configured axes are within the corresponding safe axis range,
• the TCP is within the corresponding safe zone,
• the activation signal for the Contact Application Tolerance function is 0 (if
used).
Functionality
Contact Application Tolerance relaxes the Control Error Supervision (servo lag)
to a higher value if all configured axes are within the defined axis range, or the
TCP is within the defined zone, and the activation signal is 0 (if used).
Contact Application Tolerance can be used, for instance, in machine tending, when
the servo loop gain is reduced (soft servo), or during Force Control. It is also useful
when external forces are applied to the robot, for example during tool change.
If the robot is within the defined range/zone, then the safety level is considered to
be operationally safe rather than occupationally safe. That means it is not safe for
personnel to be in the range/zone defined for Contact Application Tolerance.
For axis ranges, both reference value and measured value for all axes must be
within the defined range to be able to activate the relaxed control error. For zones,
both reference value and measured value for the TCP must be within the defined
zone to be able to activate the relaxed control error.
Up to 9 axes can be supervised simultaneously.
WARNING
When the Contact Application Tolerance is active then the dual channel safety
tolerance is reduced with the configured value. This must be considered in the
design of the robot application.
Settings
The following settings can be configured for Contact Application Tolerance:
• An axis range or a zone to apply Contact Application Tolerance for.
• Permissible control error for each axis, in degrees or mm on arm side.
• Set an output signal if a violation occurs.
• Set a status signal when the function is active.
How to define these settings is described in Configuring Contact Application
Tolerance on page 165 .
Dependencies to other supervision functions
If Contact Application Tolerance is active, it overrides the Control Error Supervision
function. That means that all other active safety controller functions work with
relaxed Control Error Supervision.
Continues on next page
Application manual - Functional safety and SafeMove2 39
3HAC052610-001 Revision: P
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2 SafeMove functions
2.2.2 Contact Application Tolerance (CAP)