universal robots e Serie Benutzerhandbuch Seite 111

17. Tabellen zu Sicherheitsfunktionen
SF# and
Safety Description
Function
SF4 Sets an upper limit for the
Joint Speed
joint speed. Each joint can
Limit
have its own limit. This
safety function has the most
influence on energy transfer
upon contact (clamping or
transient). Directly limits the
set of allowed joint speeds
which the joints are allowed
to perform. It is set in the
safety setup part of the User
Interface. Used to limit fast
joint movements, e.g. risks
related to singularities.
Joint Torque Exceeding the internal joint torque limit (each joint) results in a Cat 0
Limit accessible to the user; it is a factory setting. It is NOT shown as an e-Series safety
function because there are no user settings and no user configurations.
Benutzerhandbuch
What happens?
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.
97
Tolerance
Affects
and PFH
D
Tol: 1.15 °/s Joint
PFH : 1.8E-
(each)
D
07
3
. This is not
UR5e