ABB CRB 1100, Product Manual

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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.
• 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.
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.
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.
160 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