99419_UR5e_User_Manual_zh_Global - 第92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 J oi nt Torque Li mi t Exc eed in g the int ernal jo in t torque l im it ( e ac h joi nt) resu lts in a Cat 0 s top3 . Thi s is …

SF# and

Safety

Function

Description What happens?

Tole-

rance

PFHd Affects

SF2

Safeguard

Stop4

(Protective

Stop

according

to ISO

10218-1)

This safety function is initiated by an

external protective device using

safety inputs which will initiate a Cat 2

stop3. The tool I/O are unaffected by

the safeguard stop. Various

configurations are provided. If an

enabling device is connected, it is

possible to configure the safeguard

stop to function in automatic mode

ONLY. See the Stop Time and Stop

Distance Safety Functions4 . For the

functional safety of the complete

integrated safety function, add the

PFHd of the external protective

device to the PFHd of the Safeguard

Stop.

Category 2 stop

(IEC 60204-1) SS2

stop (as described

in IEC 61800-5-2)

1.20E-

Robot

SF3

Joint

Position

Limit (soft

axis

limiting)

Sets upper and lower limits for the

allowed joint positions. Stopping time

and distance is not a considered as

the limit(s) will not be violated. Each

joint can have its own limits. Directly

limits the set of allowed joint positions

that the joints can move within. It is

set in the safety part of the User

Interface. It is a means of safety-rated

soft axis limiting and space limiting,

according to ISO 10218-1:2011,

5.12.3.

Will not allow

motion to exceed

any limit settings.

Speed could be

reduced so motion

will not exceed any

limit. A protective

stop will be initiated

to prevent

exceeding any limit.

5°

1.20E-

Joint

(each)

SF4

Joint

Speed

Limit

Sets an upper limit for the joint speed.

Each joint can have its own limit. This

safety function has the most influence

on energy transfer upon contact

(clamping or transient). Directly limits

the set of allowed joint speeds which

the joints are allowed to perform. It is

set in the safety setup part of the User

Interface. Used to limit fast joint

movements, e.g. risks related to

singularities.

Will not allow

motion to exceed

any limit settings.

Speed could be

reduced so motion

will not exceed any

limit. A protective

stop will be initiated

to prevent

exceeding any limit.

1.15

°/s

1.20E-

Joint

(each)

用户手册 77 UR5e

17.安全功能表

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

UR5e 78 用户手册

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

用户手册 79 UR5e

17.安全功能表