Safety - ABB IRB 6400R Product On-Line Manual

2.4 Safety

Many safety concepts reside in hardware and are not within the scope of this document.
However, some important software contributions will be mentioned:
Reduced Speed
In the reduced speed mode, the controller limits all parts of the robot body, the TCP
and one user defined point (attached to the upper arm) to 250 mm/s (can be set lower).
This limitation also works in joint system motion.
Motion Supervision
See Motion Control.
Authorisation
It is possible to limit the access to certain commands by assigning different passwords
to four different user levels (operator, service, programmer, service & programmer). It
is possible to define the commands available at the different levels.
Limited modpos
It is possible to limit the allowed distance/rotation when modifying positions.
Product Specification RobotWare for BaseWare OS 3.2
Safety
9