99469_UR16e_User_Manual_zh_Global.pdf - 第97页

Safety Func ti o n D e s c ri pti on PF Hd Affec ts R e duc ed Mo de S F s etti ngs c hang e R e duc ed Mode can be ini ti ate d by a safe ty pl ane / bound ary ( s tarts w h en at 2cm of the pla ne and r e duc ed mode s…

SF# and

Safety

Function

Description What happens?

Tole-

rance

PFHd Affects

SF15

Stopping

Time

Limit

Real time monitoring of conditions such

that the stopping time limit will not be

exceeded. Robot speed is limited to

ensure that the stop time limit is not

exceeded. The control SW continuously

calculates the stopping capability of the

robot in the given motion. 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. The safety function performs

the same calculation of the stopping time

and initiates a cat 0 stop if they are

exceeded.

Will not allow the

actual stopping time

to exceed the limit

setting. Causes

decrease in speed

or a protective stop

so as NOT to

exceed the limit

50 ms

1.20E-

Robot

SF16

Stopping

Distance

Limit

Real time monitoring of conditions such

that the stopping distance limit will not be

exceeded. Robot speed is limited to

ensure that the stop distance limit will not

be exceeded. The control SW

continuously calculates the stopping

capability of the robot in the given motion.

If the distance needed to stop the robot is

at risk of exceeding the distance limit, the

speed of motion is reduced to ensure the

limit is not exceeded. The safety function

performs the same calculation of the

stopping distance and initiates a cat 0 stop

if they are exceeded.

Will not allow the

actual stopping time

to exceed the limit

setting. Causes

decrease in speed

or a protective stop

so as NOT to

exceed the limit

40 mm

1.20E-

Robot

SF17

Safe

Home

Position

Safety function which monitors a safety

rated output, such that it ensures that the

output can only be activated when the

robot is in the configured “safe home

position”. A cat 0 stop is initiated if the

output is activated when the robot is not in

the configured position.

The “safe home

output” can only be

activated when the

robot is in the

configured “safe

home position”

1.7 °

1.20E-

External

connection

to logic

and/or

equipment

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17.安全功能表

Safety

Function

Description PFHd Affects

Reduced

Mode SF

settings

change

Reduced Mode can be initiated by a safety plane/ boundary (starts

when at 2cm of the plane and reduced mode settings are achieved

within 2cm of the plane) or by use of an input to initiate (will achieve

reduced settings within 500ms).

When the external connections are Low, Reduced Mode is

initiated. Reduced Mode means that ALL reduced mode limits are

ACTIVE.

Reduced mode is not a safety function, rather it is a state affecting

the settings of the following safety function limits: joint position, joint

speed, TCP pose limit, TCP speed, TCP force, momentum,

power, stopping time, and stopping distance.

PFHd is

either

1.20E-07

or 1.50E-

depending

on the

safety

function

Robot

Safeguard

Reset

When configured for Safeguard Reset and the external

connections transition from low to high, the safeguard stop

RESETS. Safety input to initiate a reset of safeguard stop safety

function.

Input to

SF2 (See

SF2)

Robot

3 Position

Enabling

Device

INPUT

When the external Enabling Device connections are Low, a

Safeguard Stop (SF2) is initiated. Recommendation: Use with a

mode switch as a safety input. If a mode switch is not used and

connected to the safety inputs, then the robot mode will be

determined by the User Interface. If the User Interface is in

• “run mode”, the enabling device will not be active.

• “programming mode”, the enabling device will be active. It is

possible to use password protection for changing the mode

by the User Interface.

Input to

SF2 (See

SF2

safeguard

stop)

Robot

Mode

switch

INPUT

When the external connections are Low, Operation Mode (running/

automatic operation in automatic mode) is in effect. When High,

mode is programming/ teach. Recommendation: Use with a 3-

position enabling device. When in teach/program, initially the TCP

speed will be limited to 250mm/s. The speed can manually be

increased by using the pendant user interface “speed-slider”, but

upon activation of the enabling device, the speed limitation will

reset to 250mm/s.

Input to

SF2 (See

SF2

safeguard

stop)

Robot

17.2. Table 2

UR e-Series robots comply with ISO 10218-1:2011 and the applicable portions of ISO/TS 15066. It is

important to note that most of ISO/TS 15066 is directed towards the integrator and not the robot

manufacturer. ISO 10218-1:2011, clause 5.10 collaborative operation details 4 collaborative operation

techniques as explained below. It is very important to understand that collaborative operation is of the

APPLICATION when in AUTOMATIC mode.

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17.安全功能表

# 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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