ABB CRB 15000, Product Manual, Page: 1073 / 1096

7.12 Unexpected robot movement when starting the program in Protecting Area
Description
The robot moves unexpectedly in a speed not larger than 250 mm/sec when the
user starts the program in Protecting area, in which situation the robot should be
stopped and stand still.
Consequence
The unexpected robot movement may cause damages or injuries to objects or
persons within its movement range.
Possible causes
The robot moves in mentioned scenario only when all of the following conditions
are met:
• The function ISH_b_FunctionlityIsUsed in RAPID program
InternalSpeedHandling_User is set to TRUE.
• The template SafeMove configuration file provided with the Collaborative
Speed Control add-in is not loaded, or is loaded but Global_SST configuration
is removed or the ISH_UserMODE_bNot_IntemitCollab is set to 1.
• The system is in Auto mode or Manual Full Speed mode.
• The robot was stopped during running a program, and then manually moved
to another position which is within the range of the robot return path.
• The user stands in Protecting area and restarts the program using
FlexPendant.
Recommended actions
Reset the template SafeMove configuration file to factory setting and then load the
configuration file provided with the Collaborative Speed Control add-in. See detailed
procedures in
The SafeMove configurator app on FlexPendant on page 120 .
Product manual - CRB 15000 1073
3HAC077389-001 Revision: L
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7 Troubleshooting
7.12 Unexpected robot movement when starting the program in Protecting Area