Use the following procedure to disable the speed control function provided by
SafeMove:
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 signal
ISH_UserMODE_bNot_IntemitCollab in the global signal list and set the
value to 1.
xx2200000436
6 Apply the configuration to the controller by clicking Write to Controller in
the Controller group in the Configuration category.
If the SpeedHandling function requires to be reactivated after deactivation, make
sure:
• the signal ISH_UserMODE_bNot_IntemitCollab in SafeMove configuration
is set to 0, and,
• the function ISH_b_FunctionlityIsUsed in RAPID program is set to TRUE.
Changing the speed limit when WarningArea is triggered
When users enter the warning area, the robot speed is limited to 250 mm/sec by
default. Use the following procedure to change the speed limit based on risk
assessment of the final application:
1 In RobotStudio, open the RAPID program InternalSpeedHandling_User in
task T_ROB1.
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178 Product manual - CRB 15000
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
3 Installation and commissioning
3.6.8 Use cases of safety configurations
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