99469_UR16e_User_Manual_zh_Global - 第95页

SF# an d Safety Func ti o n D e s c ri pti on PFH d Affec ts SF10 U R R o bot Estop O utpu t When co nfi gu red for Esto p outpu t a nd there is an Estop c ondi tion ( s ee S F1), the dua l outp uts are LOW. If th ere is…

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

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SF# and

Safety

Function

Description PFHd Affects

SF10

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).

For the Estop Output, validation is performed at the external

equipment, as the UR output is an input to this external

equipment.

4.70E-08

External

connection

to logic

and/or

equipment

SF11

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.

1.20E-07

External

connection

to logic

and/or

equipment

SF12

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.

1.20E-07

External

connection

to logic

and/or

equipment

SF13

Robot

Reduced

Mode:

Digital

Output

Whenever the robot is in reduced mode (or reduced mode is

initiated), the dual digital outputs are LOW. See 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.

1.20E-07

External

connection

to logic

&/or

equipment

SF14

Robot

Not

Reduced

Mode:

Digital

Output

Whenever the robot is NOT in reduced mode (or the reduced

mode is not initiated), 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.

1.20E-07

External

connection

to logic

&/or

equipment

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17.安全功能表

SF# and

Safety

Function

Description What happens?

Tole-

rance

PFHd Affects

SF15

Stopping

Time

Limit

Real time monitoring of conditions such

that the stopping time limit will not be

exceeded. Robot speed is limited to

ensure that the stop time limit is not

exceeded. The control SW continuously

calculates the stopping capability of the

robot in the given motion. If the time

needed to stop the robot is at risk of

exceeding the time limit, the speed of

motion is reduced to ensure the limit is not

exceeded. The safety function performs

the same calculation of the stopping time

and initiates a cat 0 stop if they are

exceeded.

Will not allow the

actual stopping time

to exceed the limit

setting. Causes

decrease in speed

or a protective stop

so as NOT to

exceed the limit

50 ms

1.20E-

Robot

SF16

Stopping

Distance

Limit

Real time monitoring of conditions such

that the stopping distance limit will not be

exceeded. Robot speed is limited to

ensure that the stop distance limit will not

be exceeded. The control SW

continuously calculates the stopping

capability of the robot in the given motion.

If the distance needed to stop the robot is

at risk of exceeding the distance limit, the

speed of motion is reduced to ensure the

limit is not exceeded. The safety function

performs the same calculation of the

stopping distance and initiates a cat 0 stop

if they are exceeded.

Will not allow the

actual stopping time

to exceed the limit

setting. Causes

decrease in speed

or a protective stop

so as NOT to

exceed the limit

40 mm

1.20E-

Robot

SF17

Safe

Home

Position

Safety function which monitors a safety

rated output, such that it ensures that the

output can only be activated when the

robot is in the configured “safe home

position”. A cat 0 stop is initiated if the

output is activated when the robot is not in

the configured position.

The “safe home

output” can only be

activated when the

robot is in the

configured “safe

home position”

1.7 °

1.20E-

External

connection

to logic

and/or

equipment

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