¿SE PUEDE LIMITAR LA VELOCIDAD DE ROBOT+TRACK? // CAN THE SPEED OF ROBOT+TRACK BE LIMITED?

ManuelDeuser

Os comento un poco mi situación,

Tengo un sistema real, formado por un robot irb7600 conectado a un track y ambos mecanismos son controlados por la mismo controladora irc5, y no tengo instalado el paquete multimove, unicamente el safemove pro.

Mi idea es, que con dos señales de profisafe que me lleguen de un plc, si una señal se activa me limite el robot al 70% de manera directa, si me llega la otra al 30% ambos mecanismos, robot y track y si no me llega ninguna que ambas cosas vayan al 100%.

Esto es por tema de seguridad, debe hacerse de inmeadiato, alguien sabe como puedo programarlo o configurarlo??

In english:

Let me tell you a little about my situation,

I have a real system, consisting of an irb7600 robot connected to a track and both mechanisms are controlled by the same irc5 controller, and I don't have the multimove package installed, only the safemove pro.

My idea is that with two profisafe signals that come to me from a plc, if one signal is activated I limit the robot to 70% directly, if the other reaches 30% both mechanisms, robot and track and if neither reaches me that both things go to 100%.

This is for security reasons, it must be done immediately, does anyone know how I can program or configure it??

ManuelDeuser

i have a other question, if in the safemove i configure 2 --> Tool Speed Supervision (TSP) with two values different and this TSP will be activated with 2 different signals. This fuction limit the speed of robot o only have supervision?

lemster68

Speedrefresh inside a trap routine.  There is a lag time of maybe 90 milliseconds.

ManuelDeuser

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?

lemster68

Safemove might, but I don't know if you can specify a percentage like you asked about.

ManuelDeuser

percentage is dont necesary, i want maybe reduce 1option a 1400mm/s tcp and the other option a 600mm/s

ManuelDeuser

because with the input system and the ouput system only can reduce a one velocity no???