universal robots UR3/CB3 Benutzerhandbuch Seite 93

Safety
SF#
Function
Joint
Position
SF3
Internal
Limit (soft
axis limiting)
SF4 Joint Speed
Internal
Limit
SF5 Joint Torque
Internal
Limit
Safety
SF#
Function
TCP Pose
SF6
Internal
Limit
TCP
SF7
Speed
Internal
Limit
TCP
SF8
Force
Internal
Limit
Joint
SF9
Speed
Internal
Limit
Benutzerhandbuch
Exceeding the joint position limit results in a Cat 0
stop (IEC 60204-1). Each joint can have its own limit.
Directly limits the set of allowed joint positions that the
joints can move to. It is set directly in the safety setup
part of the UI where you can enter values. It is a
means of safety-rated soft axis limiting and space
limiting, according to ISO 10218-1:2011, 5.12.3.
Exceeding a joint speed limit results in a Cat 0 stop5
per IEC 60204-1. Each joint can have its own limit.
Directly limits the set of allowed joint speeds which
the joints are allowed to perform. It is set directly in
the safety setup part of the User Interface where you
can enter values. It can be used to limit fast joint
movements, for instance to limit risks related to
singularities.
Exceeding the joint torque limit (each joint) results in
a Cat 0 stop5 (per IEC 60204-1). This is not
accessible to the user as it is a factory setting, part of
the force limiting safety function.
Monitors the TCP Pose (position and orientation), any
violation of a safety plane or TCP Pose Limit will result in a
Cat 0 stop5 (IEC 60204-1). This safety function consists of
two parts. One is the safety planes for limiting the possible
TCP positions. The second is the TCP orientation limit,
which is entered as an allowed direction and a tolerance.
This provides TCP inclusion/ exclusion zones due to the
safety planes. When a limit (plane or TCP pose) is violated,
a Cat 0 stop is initiated.
Exceeding the TCP speed limit results in a Cat 0 stop5 (IEC
60204-1).
Exceeding the TCP force limit results in a Cat 0 stop5 (IEC
60204-1). Limits the external clamping force exerted by the
robot. See also Joint Torque Limit (SF5).
Exceeding the momentum limit results in a Cat 0 stop5 (IEC
60204-1). The momentum limit is very useful for limiting
transient impacts. The Momentum Limit affects the entire
robot arm.
Description
Description
83
What is
controlled?
Joint (each)
Joint (each)
Joint (each)
What is
controlled?
TCP
TCP
TCP
Robot Arm
UR3