Universal Robots E Series Original Instructions Manual page 102

SF# and
Safety
Function
SF5 Monitors the TCP Pose (position
Called
and orientation) and will prevent
various
exceeding a safety plane or TCP
names:
Pose Limit. Multiple pose limits
Pose Limit,
are possible (tool flange, elbow,
Tool Limit,
and up to 2 configurable tool
Orientation
offset points with a radius)
Limit, Safety
Orientation restricted by the
Planes,
deviation from the feature Z
Safety
direction of the tool flange OR
Boundaries
the TCP. 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 and
wrist inclusion/ exclusion zones
due to the safety planes.
SF6 Monitors the TCP and elbow
Speed Limit
speed to prevent exceeding a
TCP &
speed limit.
Elbow
UR5e
Description What happens?
Will not allow
40 mm
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.
88
16. Safety Functions Tables
Tole- PFHd Affects
rance
3 ° 1.20E- TCP
Tool
07
flange
Elbow
50 1.20E- TCP
mm/s 07
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