I think I'm missing something regarding the SafeMove speed supervision in Teach mode. My SafeMove Pro setups have no speed supervision set up -- I'm only using Position Supervision. But while all my programs run fine at 100% in Auto, in Teach, for some motions I have to reduce playback speed to 50% or even 25% in order to avoid being constantly stopped by SafeMove Speed Supervision errors.
The setting "Max Speed In Manual Mode" is set to 250, as one would expect. But even though the robot shouldn't be able to move the TCP faster than 250mm/sec in Teach mode, I'll still get these faults. There is only one permanently-mounted tool, so no tool-changing issues involved.
This mainly seems to happen when I'm running a move that combines motion and rotation -- if I'm making a major joint move to "unwind" the wrist while also moving the robot rapidly through the air (going Home after a weld sequence, for example), this seems to be when the error is most likely to occur. My best guess is that, despite the inherent 250mm/s limit of the robot, some of these moves are getting the TCP to something above that limit, and SafeMove is catching it. Annoyingly.
That brings me to Speed Supervision Points. The SafeMove manual doesn't really explain them very much, but my takeaway is that, while the motion controller only monitors that active TCP, the SafeMove controller can monitor multiple "TCPs" simultaneously and throw a fault if any of them exceed whatever Speed Supervision limit is active. Which seems like it would make the robot even more prone to throwing these faults.
One thing I'm unclear on: in the SafeMove config, does the "Tool Data" entry automatically create a Speed Supervision point? The labelling is a bit ambiguous, but it from what experiments I've been able to do, it does seem this way -- I know I've been able to reduce the Safety Speed errors by changing the "TCP" in SafeMove back to 0,0,0. But that's probably not kosher for a production system. But if I set the SafeMove "Tool Data" to match my real TCP, I get more of these errors, which seems backwards.
(also, does SafeMove use the Load Data setting to adjust stopping distances for inertia?)
So, asking the people with deeper SafeMove know-how than I have: is this just something I have to live with, or am I missing some key insight? This is an annoyance, it has no effect on production operation, but when I'm in a rush trying to test path changes in Manual, it gets really annoying.