Calculate SafeMove-Speed

  • Hi,

    Anyone who can share how to theoretically calculate the SafeMove Velocity-limitation near a fence/”safe” area?


    (yes I know you can simulate stopping distance in Robotstudio, I’m just curious if anyone actually calculates it)

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  • I'd be interested in this too. All I've found, so far, is a document from ABB that shows the predicted stopping distance, for every robot model, for Joints 1-3, at max speed and payload.


    For a 6600, for example, I think the J1 stopping distance (worst case) was 38deg! That was assuming the robot stretched to maximum horizontal reach, and moving at maximum physically possible speed, when a Stop 0 was performed.


    That works out to about 4 meters of end effector travel.


    So, that document is... unhelpful, shall we say, when trying to work out the "buffer" distance you need between your physical fence and your "virtual" (SafeMove) fence.

  • Hi,


    In robotstudio you have a tool to do this for you :-). You can see what the stopping distances are, and based on that you can place your fences on the correct position.


    Hope this helps.

    Only if you have the fully-licensed version of RS, alas. For mere peons like myself, only the free version is available. :bawling:

  • Hi,


    In robotstudio you have a tool to do this for you :-). You can see what the stopping distances are, and based on that you can place your fences on the correct position.


    Hope this helps.

    (yes I know you can simulate stopping distance in Robotstudio, I’m just curious if anyone actually calculates it)

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