ABB CRB 15000, Product Manual, Page: 177 / 1096

3.6.8 Use cases of safety configurations
General
Configurations of speed control are allowed to be modified in RAPID programs,
which are loaded to the system after the Collaborative Speed Control add-in is
installed.
Note
Safety configurations can only be modified for robots running in RobotWare 7.6
and later versions.
Modified configuration must always be validated to verify that the desired safety
is achieved. If no validation is performed, or the validation is inadequate, the
configuration cannot be relied on for personal safety.
Deactivating the SpeedHandling function
Note
Modified configuration must always be validated to verify that the desired safety
is achieved. If no validation is performed, or the validation is inadequate, the
configuration cannot be relied on for personal safety.
The SpeedHandling function is activated by default after the Collaborative Speed
Control add-in is installed and the SafeMove template is loaded. The function is
used to enable or disable speed-related actions for speed control.
It is possible to use the following procedure to deactivate the SpeedHandling
function 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_b_FunctionlityIsUsed and set its value from
default TRUE to FALSE.
xx2200000435
3 Save the change and apply to the controller.
SafeMove configurations also affect the speed control on the robot to achieve
further safety. SafeMove is still functional after the SpeedHandling function in
RAPID program is deactivated.
Continues on next page
Product manual - CRB 15000 177
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.6.8 Use cases of safety configurations