Movement In Safe Area Not In Full Speed Or At Zero Speed - ABB CRB 15000 Product Manual

7.10 Movement in Safe area not in full speed or at zero speed

Description
The speed in the Safe area is not at the full speed specified in the motion instruction
or even at zero speed after the SST/TSP violation is triggered.
This issue may occur when robot is running in RobotWare 7.5 or an earlier version.
Consequences
Robot cannot move in the specified speed, that is, in slow speed, or even stops
movement in the Safe area.
Possible causes
Before the SST/TSP is triggered, the system triggers Protecting or Warning area
speed control first. In this case, the speed control module uses the value of
SpeedRefresh to control the robot movement speed. At the time that the SST/TSP
triggers the robot stopping, the speed control has already changed by the
SpeedRefresh value which is 0 in Protecting area and 20 in Warning area.
When users are back to the Safe area and restart or step the program after the
SST/TSP violation, the SpeedRefresh value that refresh the speed to 100 does
not take effect. That is, the speed is still controlled by the SpeedRefresh value 0
or 20. Although the speed shown in the FlexPendant is 100%, the actual speed is
still controlled by the combination of the SpeedRefresh value and the speed set
in motion instruction, which will result in the movement stopping or moving in slow
speed in the Safe area.
Furthermore, when the STT violation is triggered, the manipulator triggers Cat0 or
Cat1 emergency stop. If the user tries to start program in the Protecting area but
is not in the STT area, the robot will start moving a short path to regain the previous
point and then stop. In this case, the speed is restricted to 0.
For more details, see
Recommended actions
Users could perform either of the following solutions:
Product manual - CRB 15000
3HAC077389-001 Revision: L
7.10 Movement in Safe area not in full speed or at zero speed
Strategies (RobotWare 7.5) on page
• Reset the program pointer and start the program in the Safe area again.
• Enter the Warning area but not trigger the TSP supervision violation and then
back to the Safe area again.
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