In a research facility, we currently have an IRB4600 with walk-in detection via SafeMove and a Sick microScan3 Pro. To increase the safe walk-in distance I want to limit the maximum velocity of the robot to 3 m/s, as higher speeds are not expected for the robot in its current setting.
I have found the SpeedLimCheckPoint RAPID instruction to limit the speed of the robot based on the LimitSpeed I/O signal. However, I am looking for a solution that is active at all times and is not dependent on the RAPID code. How can this be achieved?
Thank you for your response! A solution like this would be my last resort if nothing else works. As the robot is in a research facility the programs and code are changed often. Even while everybody should be informed on the speed supervision, I do expect people to forget or just plainly assume ‘It is handled’. Therefore I want to find a solution that is independent of RAPID instructions and by extension the RAPID program (This includes the speeddata variable).
Also thank you for the response! Under Controller > Configuration > Motion > Motion Planner I can find multiple motion planners with a TCP Linear Max Speed setting. This seems to limit the TCP speed, but how do I make sure the other checkpoints (wrist and elbow) are also limited? I’ve found this setting before, but as it was specific for the TCP I assumed it was not taking the safety checkpoints into account and therefore would still be able to trigger SafeMove supervision in very specific cases.
There are multiple instances of the motion planner, default used is the first. You can verify under robot, use motion planner “X”. Not sure about the arm itself though. You might need to look into your safemove configuration for that.
Hi
In our training center we use instruction “Velset” amd “Accset” in event routines (PowerON, Start, Restart). So robotspeed is always reduced independent of the programmed speed in RAPID. You can also use Instruction “Speedrefresh”. To prevent changes of the event routine you can put this routine in a module and load is automatically as hidden.
hello, with the safemove this only supervice or limit the speed automally too?
Because i need reduce the speed of robot inmedially when one signals is activate but i need this for 2 signals with different speed reduce, any can help me?
@ManuelDeuser What you are looking for is the system input located under Configuration> I/O System>System Input and then create one by right clicking and setting the action to limit speed. Select the IO you want it tied to. Then when that IO comes on, that will slow it down. What everyone else is looking at is how much that slows the robot down.
By default, the speed limit is the same as the manual mode jog speed, so 250mm/s. If you are hoping to control it as a percentage, you can use the set speed system input. Keep in mind, these are not safety rated inputs. To make this safe, you will need to have safemove and use it to monitor that when you send the robot a command to slow down that it actually does slow itself down to the reduced speed.
Feel free to reach out if you need an example of what I am describing.
If i change the teach_mode_max_speed with the command WriteCfgData and then do a warmstart, would it be considered safe? Or do i need to change the value of the max speed in safemove?
I currently dont have safemove2 installed, I can only change the Stop Configurations and the safe IOs.
