ABB CRB 1100, Product Manual

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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.
If the SpeedHandling function requires to be reactivated after deactivation, make
sure:
• 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.
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:
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.
The speed limit can also be changed in SafeMove configurations using the following
procedure:
1 Open the RobotStudio.
2 Log in the controller using the Admin account and request the write access.
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158 Product manual - CRB 1100
3HAC078007-001 Revision: J
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3 Installation and commissioning
3.7.7 Use cases of safety configurations
Continued