ABB CRB 15000 Product Manual page 178

3 Installation and commissioning
3.6.8 Use cases of safety configurations
Continued
Use the following procedure to disable the speed control function provided by
SafeMove:
If the SpeedHandling function requires to be reactivated after deactivation, make
sure:
Changing the speed limit when WarningArea is triggered
When users enter the warning area, the robot speed is limited to 250 mm/sec by
default. Use the following procedure to change the speed limit based on risk
assessment of the final application:
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178
1 Open the RobotStudio.
2 Log in the controller using the Admin account and request the write access.
3 In the Controller tab, choose Visual SafeMove from the Safety group in the
Configuration category.
4 In the Visual SafeMove tab, click Safe IO Configurator in the Configuration
group.
5 In the displayed Safe IO Configuration window, go to the signal
ISH_UserMODE_bNot_IntemitCollab in the global signal list and set the
value to 1.
xx2200000436
6 Apply the configuration to the controller by clicking Write to Controller in
the Controller group in the Configuration category.
• the signal ISH_UserMODE_bNot_IntemitCollab in SafeMove configuration
is set to 0, and,
• the function ISH_b_FunctionlityIsUsed in RAPID program is set to TRUE.
1 In RobotStudio, open the RAPID program InternalSpeedHandling_User in
task T_ROB1.
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Product manual - CRB 15000
3HAC077389-001 Revision: L