Configure Safe Move

Configure Safe Move

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Author: Mihai Terec
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 Configure Safe Move

Contents
Safe move ........................................................................................................................................... 4

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Author: Mihai Terec
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 Configure Safe Move

Document: Safe_Move_Internal_Document.docx
Last saved by: mihait
Created at: 31-10-2016
Last saved at: 06.01.2017
Remarks:

Date Author Version Description

31-10-2016 Mihai Terec 0.1 Draft

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Author: Mihai Terec
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 Configure Safe Move

Configure Safe Move

Connect the laptop to the service Ethernet port using an Ethernet cable type B. Open the robot studio.

Request write access. Select authenticate/edit user accounts.

Create a safety group named Safety. Select groups tab and add: full access, execute program, safety
controller configuration, write access to controller.

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Author: Mihai Terec
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Select application grants and check safemove/EPS software.

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Select users tab and add new user SafetyUser. The password for new user is the project number, in our
case is 2366.

Press OK.

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Select login as a different user and used the SafetyUser.

From controller tab select safety/safemove1.

First select the calibration offsets. Get the offsets from manipulator and download to safe move
controller.

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Author: Mihai Terec
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Save the calibration offsets to hard drive.

Select mechanical units, copy tool data values and add tool points.

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Author: Mihai Terec
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Select synchronization tab, set the synchronization cycle, pre warning time and get the current axis
position, after the robot is on synchronization position.

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Author: Mihai Terec
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 Configure Safe Move

With the robot on the same position (synchronization position), select on the teach pendant ABB
menu/program data/robtarget and modify position for pSafeSyncPos.

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Author: Mihai Terec
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 Configure Safe Move

Move the robot from the synchronize position.

Select cyclic brake check on the safe move configurator and set the max CBC test interval to 200 h, pre
warning time to 8 h.

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Select safe tool zone tab and check the permanent activation. Set the max tool speed in zone to 2500
mm/s, define the zone in relation to the world coordinates and set the top and bottom zone height.

Save the configuration setting to your laptop.

Download the current configuration data to controller.

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 Configure Safe Move

Save the safe move report on the hard drive and press ok button. The safe move report contains the PIN
code which needs to be used to enable the safe move.

Restart the controller.

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After restarting, log off default user and login as SafetyUser.

Choose safe move visualizer/ settings and add the PIN code.

Restart the controller.

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After restart, the synchronization and CBC need to be done. Move the robot to synchronize position.

Switch the robot to auto and reset, start the cell. The robot will move to home position and the CBC
start automatically.

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 Configure Safe Move

If the synchronization and CBC is done, then the status for PSC 1 is green.

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