ABB IRB 910INV Product Specification

Also see for IRB 910INV: Operating manual Product manual

1.9.2 Measuring stopping distance and timePreparations before measuringFor measurement and calculation of overall system stopping performance, seeISO 13855:2010.The measurement shall be done for the selected stop category. The emergencystop button on the robot controller is configured for stop category 0 on delivery. Arisk assessment can conclude the need for another stop category. The stop categorycan be changed through the system parameter Function (topic Controller, typeSafety Run Chain). In case of deviations of the default configuration of stop category0, then this is detailed in the product specification for the respective manipulator.CAUTIONThe measurement and calculation of overall stopping performance for a robotmust be tested with its correct load, speed, and tools, in its actual environment,before the robot is taken into production.All load and tool data must be correctly defined (weight, CoG, moment of inertia).The load identification service routine can be used to identify the data.CAUTIONFollow the safety instructions in the respective product manual for the robot.Measuring with TuneMasterThe software TuneMaster can be used to measure stopping distances and timesfor ABB robots. The TuneMaster software contains documentation on how to useit.1 Download TuneMaster from www.abb.com/robotics, section RobotStudio -Downloads - RobotWare Tools and Utilities.2 Install TuneMaster on a computer. Start the TuneMaster app and select LogSignals.3 Connect to the robot controller.4 Define the I/O stop signal to use for measurement, for example, ES1 foremergency stop.5 Define the signal number to use for measurement, 1298 for axis position.The value is given in radians.6 Start the logging in TuneMaster.7 Start the test program on the controller.TipUse the tool and zone definitions for the respective variant in this documentto get results that are comparable with this document.Continues on next pageProduct specification - IRB 910INV 493HAC068057-001 Revision: M© Copyright 2019-2023 ABB. All rights reserved.1 Description1.9.2 Measuring stopping distance and time