universal robots UR3/CB3 Benutzerhandbuch Seite 95

Safety
SF#
Function
SF15 UR Robot
Internal
Not
as a
Reduced
function
Mode:
with dual
Digital
outputs
Output
TUV
NORD Safety
Certified
Function
SF
Internal
Logic and
Robot
Outputs,
Reduced
with Dual
Mode
Inputs (1
through 4)
Internal
Logic and
Safeguard Outputs,
Reset with Dual
Inputs (1
through 4)
External
Enabling
Enabling Device as
Device input to
UR Robot
logic
Benutzerhandbuch
Whenever the robot is NOT in reduced mode, the dual
digital outputs are LOW. The functional safety rating is for
what is within the UR robot. The integrated functional safety
performance requires adding this PFHd to the PFHd of the
external logic (if any) and its components.
Reduced Mode can be initiated by a safety plane/
boundary (starts when at 2cm of the plane and reduced
mode settings are achieved within 2cm of the plane) or
by use of an input to initiate (will achieve reduced
settings within 500ms). When the external connections
are Low, Reduced Mode is initiated. Reduced Mode
means that ALL reduced mode limits are ACTIVE
Reduced mode is not a safety function, rather it is a state
affecting the settings of the following safety function
limits: SF3 joint position, SF4 joint speed, SF6 TCP pose
limit, SF7 TCP speed, SF8 TCP force, SF9 momentum,
and SF10 power.
When configured for Safeguard Reset and the external
connections transition from low to high, the safeguard
stop RESETS Safety input to initiate a reset of safeguard
stop safety function SF2.
When the external Enabling Device connections are
Low, a Safeguard Stop (SF2) is initiated.
Recommendation: Use with a mode switch as a safety
input. If a mode switch is not used and connected to the
safety inputs, then the robot mode will be determined by
the User Interface. If the User Interface is in:
• "run mode", the enabling device will not be active.
• "programming mode", the enabling device will be
active. It is possible to use password protection for
changing the mode by the User Interface.
Description
Description
85
What is
controlled?
External
connection
to logic
and/or
equipment
What is
controlled?
Robot Arm
Robot
Robot
UR3