universal robots e Serie Benutzerhandbuch Seite 117

17. Tabellen zu Sicherheitsfunktionen
SF# and
Safety Description
Function
SF16 Real time monitoring of
Stopping
conditions such that the
Distance
stopping distance limit will
Limit
not be exceeded. Robot
speed is limited to ensure
that the stop distance limit
will not be 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 distance for the
given motion(s) and initiates
a cat 0 stop if stopping time
limit will be or is exceeded.
SF17 Safety function which
Safe Home
monitors a safety rated
Position
output, such that it ensures
"monitored
that the output can only be
position"
activated when the robot is in
the configured and monitored
"safe home position".
A stop cat 0 is initiated if the
output is activated when the
robot is not in the configured
position.
Benutzerhandbuch
Tolerances
What happens?
and PFH
Will not allow the TOL: 40 mm
PFH
actual stopping
time to exceed the
limit setting.
Causes decrease
in speed or a
protective stop so
as NOT to exceed
the limit
The "safe home TOL: 1.7 °
PFH
output" can only
be activated when
the robot is in the
configured "safe
home position"
103
Affects
:
D
Robot
: 1.8E-07
D
External
: 1.8E-07
connection
D
to logic
and/or
equipment
UR5e