Universal Robots E Series Original Instructions Manual page 103

16. Safety Functions Tables
SF# and
Safety
Function
SF7 The Force Limit is the force
Force Limit
exerted by the robot at the TCP
(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.
SF8 The momentum limit is very
Momentum useful for limiting transient
Limit impacts. The Momentum Limit
affects the entire robot.
SF9 This function monitors the
Power Limit
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.
User Manual
Description What happens?
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.
Dynamic limiting of
the current/torque
89
Tole- PFHd Affects
rance
25N 1.50E- TCP
07
3 kg 1.20E- Robot
m/s 07
10 W 1.50E- Robot
07
UR5e