Ths TSP limit the speed of robot or only monitors the speed?

Robot Controller IRC5
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1

Hello, i have a question,

i define two TSP which it be activated with 2 different signals profisafe so my question is:

The fuction TSP of safemove, only monitors the speed of robot and if the robot Exceeds the velocity configure of TSP this fuction stop the robot or the fuction of TSP limit the speed of robot to the robot dont can exceeds the speed configure,

thanks

2

Hallo, according to the safemove manual, TSP is not a limitation but a monitoring of speed.
So is the speed in the defined points is exceeded, a stop will be generated.

3

i want to do limit the speed of robot to 30% or 70% via profisafe according to the signals, but i dont want use the rapid commands, only safemove or I/O commands

4

There is a system input signal Limit Speed which you can use to reduce axis or tcp speed defined with Rapid commands SpeedLimAxis/SpeedLimCheckPoint. Maybe you can connect the input signal with your safety controller.

5

okey, but if a want limit speed of robot and the track, only i can do by code use speedlimaxis no?? because in the safemove dont exist any way no?

6

if i use this code, i will have the operation which i want?

if VelRedNoColindante=1 AND VelRedColindante=0 THEN

SpeedLimCheckPoint 1400;
ELSEIF VelRedColindante=1 THEN

SpeedLimCheckPoint 600;

ELSEIF VelRedNoColindante=0 AND VelRedColindante=0 then
SpeedLimCheckPoint 2000;
endif

i want to limit the speed of tcp according to the 2 signals

7

so, with the code wich i past before, this reduce of speed is no automally, i need that it is inmediate with the signals are activated, so i need do this with safemove or the other way

8

Hallo, to have an immediate effect, you should define SpeedLim…, but use the system input “LimitSpeed” to switch this on or off. You can use SafeMove or an interrupt to activate “LimitSpeed”.
Then the switch works independently from your Rapid code.

9

yes, when is a only signal with a one speed reduce yes, because i activate the signals with the safemove and with the system input i reduce the speed.

but now, i need do it with 2 signals and 2 speed reduce, 600mm/s and 1400 mm/s.

But the reduce of speed, must activated inmeadly,because the program is very large and the speed dont can wait the cycle of robot