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

ManuelDeuser

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

matti

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.

ManuelDeuser

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

matti

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.

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?

ManuelDeuser

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

ManuelDeuser

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 

matti

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.

ManuelDeuser

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