universal robots e Serie Benutzerhandbuch Seite 122

# ISO 10218-1
3 Collaborative
Operation 2011
edition, clause
5.10.4
UR5e
Technique
Speed and SSM is the robot maintaining a
separation separation distance from any
monitoring operator (human). This is done
(SSM) safety by monitoring of the distance
functions between the robot system and
intrusions to ensure that the
MINIMUM PROTECTIVE
DISTANCE is assured. Usually,
this is accomplished using
Sensitive Protective Equipment
(SPE), where typically a safety
laser scanner detects intrusion
(s) towards the robot system.
This SPE causes:
1. dynamic changing of the
2. a safety-rated monitored
Upon detection of the intrusion
exiting the protective device's
detection zone, the robot is
permitted to:
1. resume the "higher"
2. resume operation in the
In the case of 2) 2), restarting
operation after a safety -rated
monitored stop, see ISO 10218-
2 and ISO/TS 15066 for
requirements.
17. Tabellen zu Sicherheitsfunktionen
Explanation
parameters for the limiting
safety functions; or
stop condition.
normal safety function
limits in the case of 1)
above
case of 2) above
108
UR e-Series
To facilitate SSM, UR
robots have the
capability of switching
between two sets of
parameters for safety
functions with
configurable limits
(normal and reduced).
See Reduced Mode on
page 4. Normal
operation can be when
no intrusion is detected.
It can also be caused by
safety planes/ safety
boundaries. Multiple
safety zones can be
readily used with UR
robots. For example,
one safety zone can be
used for "reduced
settings" and another
zone boundary is used
as a safeguard stop
input to the UR robot.
Reduced limits can also
include a reduced
setting for the stop time
and stop distance limits
– to reduce the work
area and floorspace.
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