Universal Robots E Series Original Instructions Manual page 105

16. Safety Functions Tables
SF# and
Safety
Function
SF15 Real time monitoring of
Stopping
conditions such that the stopping
Time Limit
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.
SF16 Real time monitoring of
Stopping
conditions such that the stopping
Distance
distance limit will not be
Limit
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.
User Manual
Description What happens? Tole-
rance
Will not allow the 50 ms
actual stopping
time to exceed
the limit setting.
Causes decrease
in speed or a
protective stop
so as NOT to
exceed the limit
Will not allow the 40 mm 1.20E-
actual stopping
time to exceed
the limit setting.
Causes decrease
in speed or a
protective stop
so as NOT to
exceed the limit
91
PFHd Affects
1.20E- Robot
07
Robot
07
UR5e