universal robots e Serie Benutzerhandbuch Seite 112

SF# and
Safety Description
Function
SF5 Monitors the TCP Pose
Called
(position and orientation)
various
and will prevent exceeding a
names: Pose
safety plane or TCP Pose
Limit, Tool
Limit. Multiple pose limits are
Limit,
possible (tool flange, elbow,
Orientation
and up to 2 configurable tool
Limit, Safety
offset points with a radius)
Planes,
Orientation restricted by the
Safety
deviation from the feature Z
Boundaries
direction of the tool flange
OR the TCP. 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 and wrist
inclusion/ exclusion zones
due to the safety planes.
SF6 Monitors the TCP and elbow
Speed Limit
speed to prevent exceeding
TCP & Elbow
a speed limit.
UR5e
17. 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.
98
Tolerance
Affects
and PFH
D
Tol: 3° 40 mm TCP
PFH : 1.8E- Tool flange
D
Elbow
07
Tol:50 mm/s TCP
PFH : 1.8E-
D
07
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