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2.5.4 Axis Position Supervision (APO)
Axis Position Supervision
Axis Position Supervision is an active supervision function that triggers a violation
if any axis is outside of the defined ranges.
Functionality
Supervision of up to 9 axes (robot axes and additional axes) in each set. Up to 8
sets can be configured, one for each safe axis range.
If an axis in an active set exceeds its allowed range, the safety controller triggers.
This violation will cause a category 0 stop, a category 1 stop, and/or set an output
signal, depending on the configuration.
Settings
The following parameters can be configured for Axis Position Supervision:
• A safe range to which it should be applied.
• Category 0 stop, category 1 stop, or no stop if an axis is outside its range.
• Set an output signal if an axis is outside its range.
• Set a status signal when the function is active.
• Assignment of safe inputs for activation of each set of axis ranges, or set as
permanently activated.
How to define these settings is described in Configuring Axis Position Supervision
on page 164 .
Function activation
Axis Position Supervision is activated by a safe input signal, or is permanently
active.
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Application manual - Functional safety and SafeMove2 51
3HAC052610-001 Revision: P
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2 SafeMove functions
2.5.4 Axis Position Supervision (APO)