ABB CRB 15000 - Page 138

2 Set capsule properties for the robot.
ValueParameter
Capsule 2Capsule 1
140.000160.000Radius (mm)
141.421228.859Length (mm)
380.000-30.356X valueStart (Flange coordinates)
(mm)
30.000-22.120Y value
150.00030.485Z value
520.000186.565X valueEnd (Flange coordinates)
(mm)
10.0000Y value
150.000100.000Z value
3 In the Visual SafeMove browser, select the tool and click Capsule in the
Visual SafeMove ribbon tab.
4 Set capsule properties for the tool.
ValueParameter
75Radius (mm)
250Length (mm)
0X valueStart (Flange coordinates) (mm)
0Y value
0Z value
0X valueEnd (Flange coordinates) (mm)
250Y value
250Z value
Configuring Cyclic Brake Check
1 In the Visual SafeMove ribbon tab, click Cyclic Brake Check.
2 Select the Warning only, no stop check box, enable CBC for all the joints,
and set other cyclic brake check properties.
ValueParameter
48Max CRC test interval (h)
6Pre warning time (h)
2Standstill tolerance
0.02Supervision threshold
Configuring the supervision functions
1 In the Visual SafeMove ribbon tab, choose Create Safe Zone from the Safe
Zone list.
2 Create three zones and rename as follows:
• Transient_Contact_Zone
• Quasi_Static_Contact_Zone_1
Continues on next page
138 Product manual - CRB 15000
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio
Continued