Universal Robots E Series Original Instructions Manual page 100

SF# and
Safety
Function
SF2 This safety function is initiated
Safeguard by an external protective device
Stop4 using safety inputs which will
(Protective initiate a Cat 2 stop3. The tool
Stop I/O are unaffected by the
according to safeguard stop. Various
ISO 10218- configurations are provided. If an
1) enabling device is connected, it
is possible to configure the
safeguard stop to function in
automatic mode ONLY. See the
Stop Time and Stop Distance
Safety Functions4 . For the
functional safety of the complete
integrated safety function, add
the PFHd of the external
protective device to the PFHd of
the Safeguard Stop.
SF3 Sets upper and lower limits for
Joint
the allowed joint positions.
Position
Stopping time and distance is
Limit (soft
not a considered as the limit(s)
axis
will not be violated. Each joint
limiting)
can have its own limits. Directly
limits the set of allowed joint
positions that the joints can
move within. It is set in the safety
part of the User Interface. It is a
means of safety-rated soft axis
limiting and space limiting,
according to ISO 10218-1:2011,
5.12.3.
UR5e
Description What happens?
Category 2 stop
(IEC 60204-1) SS2
stop (as described
in IEC 61800-5-2)
Will not allow
motion to exceed
any limit settings.
Speed could be
reduced so motion
will not exceed any
limit. A protective
stop will be
initiated to prevent
exceeding any
limit.
86
16. Safety Functions Tables
Tole- PFHd Affects
rance
- 1.20E- Robot
07
5° 1.20E- Joint
07 (each)
User Manual