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ygor · Member 3 Joined: 01 Jul 2013 Posts: 548

SIMATIC Safe Kinematics on a 6-axis kinematic system
https://support.industry.siemens.com/cs/document/109782485/
This application example describes the commissioning SIMATIC Safe Kinematics based on a user-defined 6-axis kinematic system. In the application example, SIMATIC Safe Kinematics is used to monitor the kinematics of a welding robot in a safety-related fashion.
A protective fence prevents access to the robot operating area.
The following requirements are placed on SIMATIC Safe Kinematics:
The safe zone monitoring (SZM) ensures that a kinematics stop is issued as soon as the tool or segment zone exits the defined working zone. As a consequence, the protective fence can be installed closer to the robot as the robot is shut down (stopped) before it reaches the protective fence. Further, SZM detects when the protection zone is violated and a stop is requested as soon as a tool or segment zone enters the protection zone.
Using the safe orientation monitoring (SLO), it is ensured that the tool (a welding pistol) points downward before welding actually starts; if this is not the case, then a stop is requested.
The safe velocity monitoring (SLS) ensures that a stop is requested as soon as the defined velocity limit of 250 mm/s is exceeded. In addition, a velocity limit 50mm/s is defined for operation when the protection zone is violated. When safe velocity monitoring is active, the defined segment or tool monitoring points are checked against a velocity limit value.
SIMATIC Safe Kinematics on a 6-axis kinematic system SIMATIC Safe Kinematics on a 6-axis kinematic system

SIMATIC Safe Kinematics on a 6-axis kinematic system SIMATIC Safe Kinematics on a 6-axis kinematic system

Requirements
SIMATIC STEP 7 Professional (TIA Portal) V16 Update 2
SIMATIC Step 7 Safety Advanced V16
SIMATIC Safe Kinematics V2.0
Downloads
https://support.industry.siemens.com/cs/attachments/109782485/109782485_LSafeKin_userdefined_kinematic_manual_V10.pdf
https://support.industry.siemens.com/cs/attachments/109782485/Safe_Kinematics_userdefined_kinematic.zip

SIMATIC Safe Kinematics – Tips & Tricks
https://support.industry.siemens.com/cs/document/109762735/
SIMATIC Safe Kinematics allows you to monitor kinematic movements safely. This document is intended to support users in applying the "SIMATIC Safe Kinematics“ fail-safe library. Information is subsequently provided in the form of tips, which will facilitate simple and quick commissioning. Topics from the SIMATIC Safe Kinematics Function Manual will be discussed in more detail.
SIMATIC Safe Kinematics on a 6-axis kinematic system SIMATIC Safe Kinematics on a 6-axis kinematic system

Prerequisites
SIMATIC Safe Kinematics
TIA Portal V15.1
STEP 7 Safety Advanced
CPU 1517TF-3 PN/DP
SINAMICS S120 from FW 5.1
Downloads
https://support.industry.siemens.com/cs/attachments/109762735/109762735_Tipps__Tricks_V1.0_EN.pdf
https://support.industry.siemens.com/cs/attachments/109762735/109762735_LSafeKinAdditionalBlocks_V1.0.zip

https://anonfiles.com/LcM8Vbzfp3/109762735_LSafeKinAdditionalBlocks_V1.0_zip
https://anonfiles.com/N8MeVdz9p7/109762735_Tipps_Tricks_V1.0_EN_pdf
https://anonfiles.com/P6M9V1zdpc/109782485_LSafeKin_userdefined_kinematic_manual_V10_pdf
https://anonfiles.com/96N8V7zbp0/Safe_Kinematics_userdefined_kinematic_zip