99312_UR5_User_Manual_zh_E67ON_Global.pdf - 第82页

SF# Safety Func ti o n D e s c ri pti on What i s c ont rol l ed? SF2 Log ic and out puts IN TER NA L Safegu ard s top (P ro tec tiv e Stop) Thi s sa fety func tion is ini tiate d by an ex terna l protec tiv e dev ic e u…

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

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

SF#

Safety

Function

Description

What is

controlled?

SF9

Internal

Joint

Speed

Limit

Exceeding the momentum limit results in a Cat 0 stop5 (IEC

60204-1). The momentum limit is very useful for limiting transient

impacts. The Momentum Limit affects the entire robot arm.

Robot Arm

SF10

Internal

Power

Limit

Exceeding the power limit results in a Cat 0 stop5 (IEC 60204-1).

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 speed of the

robot arm. This function dynamically limits the current/torque but

maintain the speed.

Robot Arm

SF#

Safety

Function

Description

What is

controlled?

SF11

Internal

as a

function

with

dual

outputs

UR 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).

External

connection

to logic

and/or

equipment

SF12

Internal

as a

function

with

dual

outputs

UR 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.

External

connection

to logic

and/or

equipment

SF13

Internal

as a

function

with

dual

outputs

UR 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.

External

connection

to logic

and/or

equipment

SF14

Internal

as a

function

with

dual

outputs

UR Robot

Reduced

Mode:

Digital

Output

Whenever the robot is in reduced mode, the dual digital outputs

are LOW. See Robot Reduced Mode 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.

External

connection

to logic

and/or

equipment

用户手册 73 UR5