ABB CRB 1100 Product Manual page 158

3 Installation and commissioning
3.7.7 Use cases of safety configurations
Continued
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:
The speed limit can also be changed in SafeMove configurations using the following
procedure:
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158
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.
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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.
2 Navigate to the function ISH_n_Speed_In_WarningArea_mm_s and set its
value from default 250 to any required value.
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3 Save the change and apply to the controller.
1 Open the RobotStudio.
2 Log in the controller using the Admin account and request the write access.
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Product manual - CRB 1100
3HAC078007-001 Revision: J