5 In the Visual SafeMove Properties window, set the Max speed (mm/s) in
the Speed limits area to a required value.
xx2200000439
6 Apply the configuration to the controller by clicking Write to Controller in
the Controller group in the Configuration category.
Changing the execution delay time in template SafeMove configuration file
Configurations of SST and TSP are predefined in the template SafeMove
configuration file as two global signals ISH_AtUser_Period_ms_Until_SST and
ISH_AtUser_Period_ms_Until_TSP.
• ISH_AtUser_Period_ms_Until_SST: default value is 650 ms. If a period of
650 ms elapses after ProtectingArea is triggered but the robot still moves,
the SST will be triggers to stop robot movement immediately.
• ISH_AtUser_Period_ms_Until_TSP: default value is 550 ms. If a period of
550 ms elapses after WarningArea is triggered but the robot still moves in a
speed larger than the defined speed limit value, the TSP will be triggered to
stop robot movement immediately.
It is possible to change the values of ISH_AtUser_Period_ms_Until_SST and
ISH_AtUser_Period_ms_Until_TSP according to application requirements using
the following procedure. The change must be based on the risk assessment of the
final application.
1 Open the RobotStudio.
2 Log in the controller using the Admin account and request the write access.
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180 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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