99419_UR5e_User_Manual_zh_Global.pdf - 第98页

# ISO 102 18-1 Tec hn i que Ex pl ana ti on U R e-Seri es 3 C o ll ab orati v e O perati on 201 1 edi ti on, c la us e 5.10.4 Speed and s epara tio n mo ni tori ng (S SM) s afety fun cti ons SS M is the robot mai ntai ni…

# ISO 10218-1 Technique Explanation UR e-Series

Collaborative

Operation

2011 edition,

clause 5.10.2

Safety-rated

monitored

stop

Stop condition where position is held

at a standstill and is monitored as a

safety function. Category 2 stop is

permitted to auto reset. In the case of

resetting and restarting operation

after a safety -rated monitored stop,

see ISO 10218-2 and ISO/TS 15066

as resumption shall not cause

hazardous conditions.

UR robots’ safeguard stop

is a safety-rated monitored

stop, See SF2 on page 1.

It is likely, in the future, that

“safety-rated monitored

stop” will not be called a

form of collaborative

operation.

Collaborative

Operation

2011 edition,

clause 5.10.3

Hand-

guiding

This is essentially individual and direct

personal control while the robot is in

automatic mode.

Hand guiding equipment shall be

located close to the end-effector and

shall have:

• an Emergency Stop

pushbutton

• a 3-position enabling device

• a safety-rated monitored stop

function

• a settable safety-rated

monitored speed function

UR robots do not provide

hand-guiding for

collaborative operation.

Hand-guided teach (free

drive) is provided with UR

robots but this is for

programming in manual

mode and not for

collaborative operation in

automatic mode.

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# ISO 10218-1 Technique Explanation UR e-Series

Collaborative

Operation

2011 edition,

clause 5.10.4

Speed and

separation

monitoring

(SSM)

safety

functions

SSM is the robot maintaining a

separation distance from any

operator (human). This is done by

monitoring of the distance 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

parameters for the limiting

safety functions; or

2. a safety-rated monitored stop

condition.

Upon detection of the intrusion exiting

the protective device’s detection

zone, the robot is permitted to:

1. resume the “higher” normal

safety function limits in the case

of 1) above

2. resume operation in the case of

2) above

In the case of 2) 2), restarting

operation after a safety -rated

monitored stop, see ISO 10218-2 and

ISO/TS 15066 for requirements.

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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# ISO 10218-1 Technique Explanation UR e-Series

Collaborative

Operation

2011 edition,

clause 5.10.5

Power and

force limiting

(PFL) by

inherent

design or

control

How to accomplish PFL is left to the

robot manufacturer. The robot design

and/or safety functions will limit the

energy transfer from the robot to a

person. If any parameter limit is

exceeded, a protective stop happens.

PFL applications require considering

the ROBOT APPLICATION

(including the end-effector and

workpiece(s), so that any contact will

not cause injury. The study performed

evaluated pressures to the ONSET of

pain, not injury. See Annex A. See

ISO/TR 20218-1 End-effectors.

UR robots are power and

force limiting robots

specifically designed to

enable collaborative

applications where the

robot could contact a

person and cause no

injury. UR robots have

safety functions that can

be used to limit motion,

speed, momentum, force,

power and more of the

robot. These safety

functions are used in the

robot application to

thereby lessen pressures

and forces caused by the

end-effector and

workpiece(s).

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