99312_UR5_User_Manual_zh_E67ON_Global.pdf - 第83页

SF# Safety Func ti o n D e s c ri pti on What i s c ont rol l ed? SF9 Inte rnal J oi nt Speed Li mi t Exc eed in g the mom entu m li mi t res ul ts in a Cat 0 st op5 ( IEC 602 04-1 ). The mom en tum li mit is very use fu…

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

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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

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SF#

Safety

Function

Description

What is

controlled?

SF15

Internal

as a

function

with

dual

outputs

UR Robot

Not

Reduced

Mode:

Digital

Output

Whenever the robot is NOT in reduced mode, 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.

External

connection

to logic

and/or

equipment

TUV

NORD

Certified

Safety

Function

Description

What is

controlled?

Robot

Reduced

Mode

Internal

Logic and

Outputs,

with Dual

Inputs (1

through 4)

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: SF3 joint position, SF4 joint speed, SF6 TCP pose limit,

SF7 TCP speed, SF8 TCP force, SF9 momentum, and SF10

power.

Robot Arm

Safeguard

Reset

Internal

Logic and

Outputs,

with Dual

Inputs (1

through 4)

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 SF2.

Robot

Enabling

Device

External

Enabling

Device as

input to

UR Robot

logic

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.

Robot

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