ABB SafeMove2, Applications Manual, Page: 49 / 238

2.5.3 Tool Speed Supervision (TSP)
Tool Speed Supervision
Tool Speed Supervision is a supervision function that supervises the speed of the
active safety tool, arm check point, and configured speed supervised points.
Functionality
Tool Speed Supervision supervises the linear speed (in mm/s) for:
• TCP for the active safety tool.
• Arm check point, "elbow".
(The position is depending on robot type and can be user defined, but is
located around axis 3).
• Wrist center point (WCP), in manual mode only.
• A number of configurable speed supervised points on the current tool.
If any of these points exceed the maximum speed, the safety controller triggers.
If the TCP moves slower than the minimum speed, the safety controller will also
trigger. The speed violation will cause a category 0 stop, a category 1 stop, or set
an output signal, depending on the configuration.
There can be up to 8 global sets of Tool Speed Supervision plus one for each zone
and axis range (up to 16 zones and 8 axis ranges).
WARNING
Tool Speed Supervision is not active in manual operating mode and shall therefore
not be used to guarantee operator safety in that mode.
CAUTION
Since the TCP speed is determined by the programmed speed it is very important
that the TCP of the active tool in SafeMove corresponds to the active tool of the
robot program.
Note
The resultant robot TCP speed can in some situations be higher than the
programmed TCP speed. This could happen for some robot types if the move
instructions are of type
MoveJ
or
MoveAbsJ
. If this occurs, either increase the
Max Speed for Tool Speed Supervision, or try to add intermediate robot targets
in the RAPID program.
Continues on next page
Application manual - Functional safety and SafeMove2 49
3HAC052610-001 Revision: P
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2 SafeMove functions
2.5.3 Tool Speed Supervision (TSP)