ABB CRB 1100 Product Manual page 160

3 Installation and commissioning
3.7.7 Use cases of safety configurations
Continued
Changing the execution delay time in template SafeMove configuration file
Configurations of SST and TSP are predefined in the template SafeMove
configuration file as two global signals ISH_AtUser_Period_ms_Until_SST and
ISH_AtUser_Period_ms_Until_TSP.
It is possible to change the values of ISH_AtUser_Period_ms_Until_SST and
ISH_AtUser_Period_ms_Until_TSP according to application requirements using
the following procedure. The change must be based on the risk assessment of the
final application.
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• ISH_AtUser_Period_ms_Until_SST: default value is 650 ms. If a period of
650 ms elapses after ProtectingArea is triggered but the robot still moves,
the SST will be triggers to stop robot movement immediately.
• ISH_AtUser_Period_ms_Until_TSP: default value is 550 ms. If a period of
550 ms elapses after WarningArea is triggered but the robot still moves in a
speed larger than the defined speed limit value, the TSP will be triggered to
stop robot movement immediately.
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 signals
ISH_AtUser_Period_ms_Until_SST and ISH_AtUser_Period_ms_Until_TSP
in the global signal list and reset the value as required.
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6 Apply the configuration to the controller by clicking Write to Controller in
the Controller group in the Configuration category.
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Product manual - CRB 1100
3HAC078007-001 Revision: J