99469_UR16e_User_Manual_zh_Global.pdf - 第94页

SF# an d Safety Func ti o n D e s c ri pti on What hap pen s ? Tol e- ranc e PFH d Affec ts SF7 Force Lim i t (TC P) The Force Lim it is the force exe rted by the robot at the TC P (tool cent er poi nt) an d “ e lb ow ”.…

SF# and

Safety

Function

Description What happens?

Tole-

rance

PFHd Affects

Joint

Torque

Limit

Exceeding the internal joint torque

limit (each joint) results in a Cat 0

stop3. This is shown as SF #5 in the

Generation 3 (CB3) UR robots. This

is not accessible to the user; it is a

factory setting. It is NOT shown as a

safety function because there are no

user settings and no user

configuration possibilities.

- - - -

SF5

Called

various

names:

Pose Limit,

Tool Limit,

Orientation

Limit,

Safety

Planes,

Safety

Boundaries

Monitors the TCP Pose (position and

orientation) and will prevent

exceeding a safety plane or TCP

Pose Limit. Multiple pose limits are

possible (tool flange, elbow, and up to

2 configurable tool offset points with a

radius) Orientation restricted by the

deviation from the feature Z 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.

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.

3 °

1.20E-

TCP

Tool

flange

Elbow

SF6

Speed

Limit TCP

& Elbow

Monitors the TCP and elbow speed

to prevent exceeding a speed limit.

mm/s

1.20E-

TCP

用户手册 79 UR16e

17.安全功能表

SF# and

Safety

Function

Description What happens?

Tole-

rance

PFHd Affects

SF7

Force Limit

(TCP)

The Force Limit is the force exerted

by the robot at the TCP (tool center

point) and “elbow”. The safety

function continuously calculates the

torques allowed for each joint to stay

within the defined force limit for both

the TCP & the elbow. The joints

control their torque output to stay

within the allowed torque range. This

means that the forces at the TCP or

elbow will stay within the defined

force limit. When a monitored stop is

initiated by the Force Limit SF, the

robot will stop, then “back-off” to a

position where the force limit was not

exceeded. Then it will stop again.

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.

25N

1.50E-

TCP

SF8

Momentum

Limit

The momentum limit is very useful for

limiting transient impacts. The

Momentum Limit affects the entire

robot.

3 kg

m/s

1.20E-

Robot

SF9

Power

Limit

This function monitors the

mechanical work (sum of joint

torques times joint angular speeds)

performed by the robot, which also

affects the current to the robot arm as

well as the robot speed. This safety

function dynamically limits the

current/ torque but maintains the

speed.

Dynamic limiting of

the current/torque

10 W

1.50E-

Robot

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17.安全功能表

SF# and

Safety

Function

Description PFHd Affects

SF10

Robot

Estop

Output

When configured for Estop output and there is an Estop

condition (see SF1), the dual outputs are LOW. If there is no

Estop condition, dual outputs are high. Pulses are not used but

they are tolerated. For the integrated functional safety rating with

an external Estop device, add the PFHd of the UR Estop

function (SF0 or SF1) to the PFHd of the external logic (if any)

and its components (e.g. Estop pushbutton).

For the Estop Output, validation is performed at the external

equipment, as the UR output is an input to this external

equipment.

4.70E-08

External

connection

to logic

and/or

equipment

SF11

Robot

Moving:

Digital

Output

Whenever the robot is moving (motion underway), the dual

digital outputs are LOW. Outputs are HIGH when no movement.

The functional safety rating is for what is within the UR robot.

The integrated functional safety performance requires adding

this PFHd to the PFHd of the external logic (if any) and its

components.

1.20E-07

External

connection

to logic

and/or

equipment

SF12

Robot

Not

stopping:

Digital

Output

Whenever the robot is STOPPING (in process of stopping or in a

stand-still condition) the dual digital outputs are HIGH. When

outputs are LOW, robot is NOT in the process or stopping and

NOT in a stand-still condition. The functional safety rating is for

what is within the UR robot. The integrated functional safety

performance requires adding this PFHd to the PFHd of the

external logic (if any) and its components.

1.20E-07

External

connection

to logic

and/or

equipment

SF13

Robot

Reduced

Mode:

Digital

Output

Whenever the robot is in reduced mode (or reduced mode is

initiated), the dual digital outputs are LOW. See below. The

functional safety rating is for what is within the UR robot. The

integrated functional safety performance requires adding this

PFHd to the PFHd of the external logic (if any) and its

components.

1.20E-07

External

connection

to logic

&/or

equipment

SF14

Robot

Not

Reduced

Mode:

Digital

Output

Whenever the robot is NOT in reduced mode (or the reduced

mode is not initiated), the dual digital outputs are LOW. The

functional safety rating is for what is within the UR robot. The

integrated functional safety performance requires adding this

PFHd to the PFHd of the external logic (if any) and its

components.

1.20E-07

External

connection

to logic

&/or

equipment

用户手册 81 UR16e

17.安全功能表