Universal Robots E Series Original Instructions Manual page 101

16. Safety Functions Tables
SF# and
Safety
Function
SF4 Sets an upper limit for the joint
Joint Speed
speed. Each joint can have its
Limit
own limit. This safety function
has the most influence on energy
transfer upon contact (clamping
or transient). Directly limits the
set of allowed joint speeds which
the joints are allowed to perform.
It is set in the safety setup part
of the User Interface. Used to
limit fast joint movements, e.g.
risks related to singularities.
Joint Exceeding the internal joint
Torque torque limit (each joint) results in
Limit a Cat 0 stop3. This is shown as
SF #5 in the Generation 3 (CB3)
UR robots. This is not accessible
to the user; it is a factory setting.
It is NOT shown as a safety
function because there are no
user settings and no user
configuration possibilities.
User Manual
Description What happens?
Will not allow 1.15 °/s 1.20E-
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.
-
87
Tole- PFHd Affects
rance
Joint
07 (each)
- - -
UR5e