universal robots e Serie Benutzerhandbuch Seite 110

SF# and
Safety Description
Function
SF2 This safety function is
Safeguard initiated by an external
Stop4 protective device using
(Protective safety inputs that initiate a
Stop Cat 2 stop3. The tool I/O are
according to unaffected by the safeguard
ISO 10218-1) stop. Various configurations
are provided. If an enabling
device is connected, it's
possible to configure the
safeguard stop to function in
automatic mode ONLY. See
the Stop Time and Stop
Distance Safety Functions4 .
For the functional safety of
the complete integrated
safety function, add the
PFHd of the external
protective device to the
PFHd of the Safeguard Stop.
SF3 Sets upper and lower limits
Joint Position
for the allowed joint
Limit (soft
positions. Stopping time and
axis limiting)
distance is not a considered
as the limit(s) will not be
violated. Each joint can have
its own limits. Directly limits
the set of allowed joint
positions that the joints can
move within. It is set in the
safety part of the User
Interface. It is a means of
safety-rated soft axis limiting
and space limiting,
according to ISO 10218-
1:2011, 5.12.3.
UR5e
17. Tabellen zu Sicherheitsfunktionen
What happens?
Category 2 stop (IEC
60204-1) SS2 stop
(as described in IEC
61800-5-2)
Will not allow motion
to exceed any limit
settings. Speed
could be reduced so
motion will not
exceed any limit. A
protective stop will
be initiated to
prevent exceeding
any limit.
96
Tolerance
Affects
and PFH
D
Tol: -- Robot
PFH : 1.8E-
D
07
Tol: 5° Joint
PFH : 1.8E-
(each)
D
07
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