99312_UR5_User_Manual_zh_E67ON_Global.pdf - 第87页

TU V N O RD C e rti fi ed SF Safety Func ti on Li m i ts or U SER c onf i gurati o n or F a c tory Setti ng Stop C ate gory per IEC 602 04- 1 IEC 61800 -5-2 Stop: power to fi na l s w i tc hi n g dev i c e s retai n ed f…

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TUV
NORD
Certified
SF
Safety Function
Limits or
USER
configuration
or Factory
Setting
Stop Category
per IEC 60204-1
IEC 61800-5-2
Stop: power to
final switching
devices
retained for
Category 2
stop
PLd
Cat
PFHd
UR
3/5/10
SF5
Joint Torque Limit
internal factory
setting
factory
setting
Cat 0 NA 2 3.15E-07
SF6 TCP Pose Limit Limits Cat 0 NA 2 3.15E-07
SF7 TCP Speed Limit Limits Cat 0 NA 2 3.15E-07
TUV
NORD
Certified
SF
Safety Function
Limits or
USER
configuration
or Factory
Setting
Stop Category
per IEC 60204-1
IEC 61800-5-2
Stop: power to
final switching
devices
retained for
Category 2 stop
PLd
Cat
PFHd
UR
3/5/10
SF8 TCP Force Limit Limits Cat 0 NA 2
3.15E-
07
SF9 Momentum Limit Limits Cat 0 NA 2
3.15E-
07
SF10 Power Limit Limits Cat 0 NA 2
3.15E-
07
SF11
UR RINPUTobot
Estop Output
Output & I/O
Configuration
See Estop SF1 See Estop SF1 2
4.41E-
08
SF12
UR Robot Moving:
Digital Output
Output & I/O
Configuration
Cat 0 NA 2
3.15E-
07
SF13
UR Robot Not
stopping:
Digital Output
Output & I/O
Configuration
Cat 0 NA 2
3.15E-
07
SF14
UR Robot
Reduced Mode:
Digital Output
Output & I/O
Configuration
Cat 0 if fault
detected
NA 2
3.15E-
07
SF15
UR Robot Not
Reduced Mode:
Digital Output
Output & I/O
Configuration
Cat 0 (immediate
stop)
NA 2
3.15E-
07
UR5 76 用 户 手 册
版 权所 有 © 2009–2021UniversalRobotsA/S。保留 所 有 权利。
TUV
NORD
Certified
SF
Safety Function
Limits or
USER
configuration
or Factory
Setting
Stop Category
per IEC 60204-
1
IEC 61800-5-2
Stop: power to
final switching
devices
retained for
Category 2 stop
PLd
Cat
PFHd
UR
3/5/10
Robot
Reduced
Mode
Reduced Mode
INPUT
Input & I/O
Configuration
Cat2 SS2 2
3.15E-
07
Safeguard
Reset
Safeguard Reset
INPUT
Input & I/O
Configuration
Cat2 SS2 2
3.15E-
07
Enabling
Device
3 Position
Enabling Device
INPUT
Input & I/O
Configuration
Cat2 SS2 2
3.15E-
07
Mode
Selection
Mode switch
INPUT
Input & I/O
Configuration
Cat2 SS2 2
3.15E-
07
用 户 手 册 77 UR5
版 权所 有 © 2009–2021UniversalRobotsA/S。保留 所 有 权利。
UR5 78 用 户 手 册
版 权所 有 © 2009–2021UniversalRobotsA/S。保留 所 有 权利。