ABB SafeMove2, Applications Manual, Page: 50 / 238

Note
When the robot is running in manual mode, neither the elbow point nor the TCP
point will exceed 250 mm/s. When the robot is running in auto mode, the robot
controller will not consider the elbow speed when generating the path, only the
defined TCP speed and reorientation speed. (If additional axis exists in the
system, the speed data for this will also be considered.)
The result from this is that the elbow speed is sometimes higher than the
programmed TCP speed. Since Tool Speed Supervision supervises the TCP,
the elbow, and the speed supervision points on the tool, the speed of these points
must be taken into account when creating the RAPID program.
Settings
The following parameters can be configured for each set of Tool Speed Supervision:
• An optional axis range or a zone for which the Tool Speed Supervision is
applied.
• Maximum allowed speed (in mm/s) for TCP, elbow, and speed supervised
points.
• An optional minimum speed for the TCP.
• Category 0 stop, category 1 stop, or no stop if a violation occurs.
• Set an output signal if a violation occurs.
• Set a status signal when the function is active.
• Assignment of a safe input for activation, or set as permanently active.
How to define these settings is described in Configuring Tool Speed Supervision
on page 161 .
Function activation
Tool Speed Supervision is activated by a safe input signal, or is permanently active.
Limitations
• Tool Speed Supervision is only available for SafeMove Pro, see Functional
safety options on page 18 .
• The highest speed limit that can be configured is 600 degrees/s for rotational
axes and 10000 mm/s for linear axes.
50 Application manual - Functional safety and SafeMove2
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
2 SafeMove functions
2.5.3 Tool Speed Supervision (TSP)
Continued