Fanuc Dinamic override of robot speed

    Hello to everyone and thank you in advance for your help.

    I have a Fanuc R-30iB Plus controller and i'm looking for a way to limit online the speed of the robot's movimentation while a program is running in auto.

    More specific i have a vision system that check if there is any operator in a defined operating area of the robot and calculated the distance between them, i want to slow down the robot gradually in function of it.

    I have found something using the DCS (Dual check safety) like speed check function and the slowdown zones, but i dont know if it is possible control it using an external device or using it for my purpose.

    You can use Override Select function(Menu -> Setup -> Override Select) , set up a DI that will be turned on if the person is present in secured area, and if that DI turns on, the robot speed will be modified.

    Major question: is this for safety purposes (meaning, has to be done to meet or exceed a risk assessment) or operational purposes (robot will meet RIA standards without this feature, but will operate better with it)?

    If it's for safety, your options are limited to safety-rated options such as DCS; if it's operational, then you can use other options (and/or DCS) to fulfill the task.

    Edit: This seems to be a safety function, unless I am incorrect in the implementation here. If it's a safety function, be VERY careful on how you complete this task. Vision systems, Group Inputs, Digital I/O signals, TP programs, and even most System Variables are NOT considered safety rated.

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    More specific i have a vision system that check if there is any operator in a defined operating area of the robot and calculated the distance between them, i want to slow down the robot gradually in function of it.

    After implementing any solution, I suggest performing a risk assessment on the whole system to make sure you're still safe.

    Thank you for all of your answer.

    Stare284 and amotov, i will try both of your solution.

    To domo_arigato:

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    If it's for safety, your options are limited to safety-rated options such as DCS; if it's operational, then you can use other options (and/or DCS) to fulfill the task.

    yes it is, but is for research only.

    I will perform a test in a controlled environment so i can avoid to use the DCS, but your analysis is very accurate and

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    After implementing any solution, I suggest performing a risk assessment on the whole system to make sure you're still safe.

    thank you for your advice, i will perform a risk assessment on the whole system.

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