universal robots e Serie Benutzerhandbuch Seite 116

SF# and
Safety Description
Function
SF15 Real time monitoring of
Stopping
conditions such that the
Time Limit
stopping time limit will not be
exceeded. Robot speed is
limited to ensure that the
stop time limit is not
exceeded.
The stopping capability of the
robot in the given motion(s)
is continuously monitored to
prevent motions that would
exceed the stopping limit. If
the time needed to stop the
robot is at risk of exceeding
the time limit, the speed of
motion is reduced to ensure
the limit is not exceeded. A
protective stop will be
initiated to prevent
exceeding the limit.
The safety function performs
the same calculation of the
stopping time for the given
motion(s) and initiates a cat 0
stop if the stopping time limit
will be or is exceeded.
UR5e
17. Tabellen zu Sicherheitsfunktionen
Tolerances
What happens?
and PFH
Will not allow the TOL: 50 ms
PFH
actual stopping
time to exceed the
limit setting.
Causes decrease
in speed or a
protective stop so
as NOT to exceed
the limit
102
Affects
:
D
Robot
: 1.8E-07
D
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