99312_UR5_User_Manual_zh_E67ON_Global.pdf - 第81页

机 器 人 电 缆 ： 机 器 人 手 臂 至 控 制 箱 ( 选 件 ) 标 准 (P VC ) 6 m/236 in x 13.4 mm 标 准 (P VC ) 12 m/47 2.4 in x 13.4 mm H i Fl ex ( PU R) 6 m/23 6 in x 12.1 mm H i Fl ex ( PU R) 12 m/4 72.4 in x 12.1 mm 1.19. 安 全 功 能 表 1.1 9.1. Tab …

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1.18. 技术规格
机器人类型 UR5
重量 18.4kg / 40.6lb
最大有效载荷 5kg / 11lb
延伸 850mm / 33.5in
关节范围 ± 360° for all joints
Speed
关节：最大为 180°/s。Tool: Approx.1
m
/
s
/
Approx.39.4
in
/
s
.
位姿可重复性 ± 0.1mm / ± 0.0039in( 4 密耳) ，符合 ISO 9283
足迹 Ø149mm / 5.9in
自由度 6 rotating joints
控制箱尺寸( 宽 × 高 × 厚)
462mm × 418mm × 268mm / 18.2in × 16.5in ×
10.6in
控制箱 I/O 端口
16 个数字输入，16 个数字输出，2 个模拟输入，2
个模拟输出
工具 I/O 端口 2 个数字输入，2 个数字输出，2 个模拟输入
I/O 电源 24V 2A in Control Box
通信
TCP/IP 1000 Mbit：IEEE 802.3u，100BASE-T 以太网
接口，modbus TCP 和以太网/IP 适配器，Profinet
编程 PolyScope graphical user interface on 12" touchscreen
噪声 72 dB(A)
IP 等级 IP54
清洁房间分类 机器人手臂：ISO 5 类，控制箱：ISO 6 类
平均电源最大值 390W
功耗 使用典型程序约为 390W
短路电流额定值 (SCCR) 200A
协同操作
15 个高级安全功能。符合：EN ISO 13849-1:2008、
PLd 和 EN ISO 10218-1:2011 第 5.10.5 条
材质 Aluminium, PP plastic
温度
The robot can work in an ambient temperature range of
0-50°C
电源 100-240VAC，50-60Hz
TP Cable: Teach Pendant to Control Box 4.5m / 177in
UR5 70 用 户 手 册
版 权所 有 © 2009–2021UniversalRobotsA/S。保留 所 有 权利。
机器人电缆：机器人手臂至控制箱( 选
件)
标准 (PVC) 6 m/236 in x 13.4 mm
标准 (PVC) 12 m/472.4 in x 13.4 mm
HiFlex (PUR) 6 m/236 in x 12.1 mm
HiFlex (PUR) 12 m/472.4 in x 12.1 mm
1.19. 安全功能表
1.19.1. Table 1: Safety Functions (SF) Descriptions
提示
本章中介绍的安全功能表是简化版本。您可以访问以下链接查看其完整版
本：https://www.universal-robots.com/support
All safety functions are individual safety functions.
SF#
Safety
Function
Description
What is
controlled?
SF0 and
SF1
Internal
Emergency
Stop There
are two
separate
Emergency
Stop safety
functions
Pressing the Estop PB on the pendant1 or the External
Estop (if using the Estop Safety Input configured for Estop)
results in both a Cat 0 and a Cat 1 stop according to IEC
60204-1 (NFPA79) . These are SF0 and SF1 respectively.
SF0: 524ms timer setting in each safety controller’s
microprocessor. At the end of the 524ms, Cat 0 stop3 (IEC
60204-1) is initiated by each microprocessor. SF1:
Command1 all joints to stop and upon all joints coming to a
standstill state, power is removed. This is a Cat 1 stop per
IEC 60204-1. The stopping times of the SF0 and SF1 Estop
safety functions differ.
• SFO has a functional safety rating of PLd Cat3 with
the worst-case stopping time, as if all joint monitoring
failed at the same time and after 524ms, then power is
immediately removed while the robot is going the
maximum speed. This could result in a worst case
stopping time of 1250ms.
• SF1 has a functional safety rating of PLd Cat2 with a
reliable and realistic maximum stop time of
approximately 300ms for UR3 and 400ms for
UR5/UR10. See the User Manual for specific
information. The application stop time can be reduced
depending on the application’s safety limits (SF3, 4, 6,
7, 8, 9) settings and the use of the stop time
information provided in the manual.
Robot Arm
用 户 手 册 71 UR5
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SF#
Safety
Function
Description
What is
controlled?
SF2
Logic and
outputs
INTERNAL
Safeguard
stop
(Protective
Stop)
This safety function is initiated by an external protective
device using safety inputs which will initiate a Cat 2 stop per
IEC 60204-1. For the functional safety rating of the complete
integrated safety function, add the PFHd of the external
protective device to the PFHd of SF2. If a PLd Cat3 stop is
needed for protective devices, connect the protective device
and configure the input as if it were an external Estop input
(See SF0).
Robot Arm
SF3
Internal
Joint
Position
Limit (soft
axis
limiting)
Exceeding the joint position limit results in a Cat 0 stop (IEC
60204-1). Each joint can have its own limit. Directly limits the
set of allowed joint positions that the joints can move to. It is
set directly in the safety setup part of the UI where you can
enter values. It is a means of safety-rated soft axis limiting
and space limiting, according to ISO 10218-1:2011, 5.12.3.
Joint
(each)
SF4
Internal
Joint
Speed
Limit
Exceeding a joint speed limit results in a Cat 0 stop5 per IEC
60204-1. Each joint can have its own limit. Directly limits the
set of allowed joint speeds which the joints are allowed to
perform. It is set directly in the safety setup part of the User
Interface where you can enter values. It can be used to limit
fast joint movements, for instance to limit risks related to
singularities.
Joint
(each)
SF5
Internal
Joint
Torque
Limit
Exceeding the joint torque limit (each joint) results in a Cat 0
stop5 (per IEC 60204-1). This is not accessible to the user
as it is a factory setting, part of the force limiting safety
function.
Joint
(each)
SF#
Safety
Function
Description
What is
controlled?
SF6
Internal
TCP Pose
Limit
Monitors the TCP Pose (position and orientation), any violation of
a safety plane or TCP Pose Limit will result in a Cat 0 stop5 (IEC
60204-1). 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 inclusion/ exclusion
zones due to the safety planes. When a limit (plane or TCP pose)
is violated, a Cat 0 stop is initiated.
TCP
SF7
Internal
TCP
Speed
Limit
Exceeding the TCP speed limit results in a Cat 0 stop5 (IEC
60204-1).
TCP
SF8
Internal
TCP
Force
Limit
Exceeding the TCP force limit results in a Cat 0 stop5 (IEC
60204-1). Limits the external clamping force exerted by the robot.
See also Joint Torque Limit (SF5).
TCP
UR5 72 用 户 手 册
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