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SF# and
Safety
Function
Exceeding the internal joint torque
limit (each joint) results in a Cat 0
stop3. This is shown as SF #5 in
the Generation 3 (CB3) UR robots.
Joint
This is not accessible to the user;
Torque
it is a factory setting. It is NOT
Limit
shown as a safety function
because there are no user
settings and no user configuration
possibilities.
Monitors the TCP Pose (position
and orientation) and will prevent
exceeding a safety plane or TCP
Pose Limit. Multiple pose limits
are possible (tool flange, elbow,
SF5
Called
and up to 2 configurable tool
various
offset points with a radius)
names:
Orientation restricted by the
Pose Limit,
deviation from the feature Z
Tool Limit,
direction of the tool flange OR the
Orientation
TCP. This safety function
Limit,
consists of two parts. One is the
Safety
safety planes for limiting the
Planes,
possible TCP positions. The
Safety
second is the TCP orientation
Boundaries
limit, which is entered as an
allowed direction and a tolerance.
This provides TCP and wrist
inclusion/ exclusion zones due to
the safety planes.
SF6
Monitors the TCP and elbow
Speed
speed to prevent exceeding a
Limit TCP
speed limit.
& Elbow
UR3e
Description
16. Tabellen zu Sicherheitsfunktionen
What happens?
-
Will not allow
motion to exceed
any limit settings.
Speed or torques
could be reduced
so motion will not
exceed any limit.
A protective stop
will be initiated to
prevent exceeding
any limit. Will not
allow motion to
exceed any limit
settings.
86
Tole-
PFHd
Affects
rance
-
-
-
TCP
3 °
1.20E-
Tool
40
07
flange
mm
Elbow
50
1.20E-
TCP
mm/s
07
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