ABB CRB 15000 - Page 139

• Quasi_Static_Contact_Zone_2
3 Set zone properties.
ValueParameter
Quasi_Stat-
ic_Con-
tact_Zone_2
Quasi_Stat-
ic_Con-
tact_Zone_1
Transi-
ent_Con-
tact_Zone
BASEBASEBASETool Speed Supervision Priority
Task frameTask frameTask frameReference
0.000-100.00050.000Bottom valueBotton, Top (mm)
350.00050.0002000.000Top value
-100, -200-1600, -1600-1500, -1500X and Y values for ver-
tices 1
Vertices X, Y
(mm)
100, -2001600, -16001500, -1500X and Y values for ver-
tices 2
100, 1501600, 16001500, 1500X and Y values for ver-
tices 3
-100, 150-1600, 1600-1500, 1500X and Y values for ver-
tices 4
4 Right click the three zones respectively in the left navigation tree and choose
Tool Speed Supervision. Set following parameters.
ValueParameter
Quasi_Stat-
ic_Con-
tact_Zone_2
Quasi_Stat-
ic_Con-
tact_Zone_1
Transi-
ent_Con-
tact_Zone
Cat-
egory1Stop
Cat-
egory1Stop
Cat-
egory1Stop
Stop categoryViolation action
20.00020.000434.000Max speed (mm/s)Speed limits
5 Right click the Quasi_Static_Contact_Zone_1 and
Quasi_Static_Contact_Zone_2 zones respectively in the left navigation tree
and choose Tool Force Supervision. Set following parameters.
ValueParameter
Category1StopStop categoryViolation action
70.000Max force (N)Force limits
6 Click Tool Position Supervision in the Modify ribbon tab and set the
properties.
ValueParameter
PermanentlyActiveActivation
No signalFunction active status
Category1StopStop categoryViolation action
No signalSignal
Checked the Include upper arm
geometry and Allow inside
check boxes.
Settings
Continues on next page
Product manual - CRB 15000 139
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio
Continued