RobotStudio event

SafeMove Safe Tool Zone (STZ)

tmr
tmr ✭
in RobotStudio
Consider this SafeMove configuration, two adjoining Safe Tool Zones "A" and "B" are configured as allow inside with permanent activation. A third zone "C" is configured with the allow inside unchecked with permanent activation.  Technically, zone "C" would be allow outside.  The idea is for the robot to stay within "A" and "B" but out of "C".  The question I have is because "C" is an allow outside zone what happens when the robot leaves zones "A" and "B"?  Can it still move because of the inverted "C" zone? Is there a standard practice for this type of safe working space definition with an excluded area?

Comments

  • Henrik Berlin
    Henrik Berlin ✭✭✭
    edited June 2015

    Hello,

    All the conditions you define must be fulfilled. Since you have permanent activation, the robot must be (inside A) AND (inside B ) AND (outside C) at the same time. This means that the robot must be Always be inside the intersection of A and B and also outside C. I am no expert in practical SafeMove setups, but I know that some people use the 'outside' zones to protect e.g. a workpiece or equipment and use the 'inside zones' for the robot.

    Kind regards,

    Henrik Berlin

    Henrik Berlin
    ABB

Categories

In this Discussion