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2.5.5 Tool Position Supervision (TPO)
Tool Position Supervision
Tool Position Supervision is a supervision function that supervises that the robot
is within the allowed safe zone.
Functionality
Tool Position Supervision supervises that the robot and the active safety tool (and
any configured encapsulation around them) are within the defined zone. Up to 32
sets can be configured, max two per safe zone.
If the robot is outside its allowed zone, 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 Tool Position Supervision:
• A safe zone to which it should be applied.
• Assignment of a safe input for activation, or set as permanently active.
• Category 0 stop, category 1 stop, or no stop if the robot violates its zone
limits.
• Set an output signal if the robot violates its zone limits.
• Set a status signal when the function is active.
• If the upper arm should be included in the supervision, or only the tool.
• If the robot should be allowed only inside or only outside of the zone.
How to define these settings is described in Configuring Tool Position Supervision
on page 160 .
Function activation
Tool Position Supervision is activated by a safe input signal, or is permanently
active.
Limitations
• Tool Position Supervision is only available for SafeMove Pro, see Functional
safety options on page 18 .
WARNING
Be aware of that the braking starts when the tool or robot exceeds the configured
limit value.
The braking distance depends on robot type, load, position and speed, and
therefore an additional stopping distance may sometimes be required to achieve
the desired safety.
Application manual - Functional safety and SafeMove2 53
3HAC052610-001 Revision: P
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2 SafeMove functions
2.5.5 Tool Position Supervision (TPO)