Universal Robots E Series Original Instructions Manual page 106

SF# and
Safety
Function
SF17 Safety function which monitors a
Safe Home
safety rated output, such that it
Position
ensures that the output can only
be activated when the robot is in
the configured "safe home
position". A cat 0 stop is initiated
if the output is activated when the
robot is not in the configured
position.
Safety
Function
Reduced Reduced Mode can be initiated by a safety plane/ boundary
Mode SF (starts when at 2cm of the plane and reduced mode settings
settings are achieved within 2cm of the plane) or by use of an input to
change initiate (will achieve reduced settings within 500ms).
When the external connections are Low, Reduced Mode is
initiated. Reduced Mode means that ALL reduced mode
limits are ACTIVE.
Reduced mode is not a safety function, rather it is a state
affecting the settings of the following safety function limits:
joint position, joint speed, TCP pose limit, TCP speed, TCP
force, momentum, power, stopping time, and stopping
distance.
Safeguard When configured for Safeguard Reset and the external
Reset connections transition from low to high, the safeguard stop
RESETS. Safety input to initiate a reset of safeguard stop
safety function.
3 Position When the external Enabling Device connections are Low, a
Enabling Safeguard Stop (SF2) is initiated. Recommendation: Use with
Device a mode switch as a safety input. If a mode switch is not used
INPUT and connected to the safety inputs, then the robot mode will
be determined by the User Interface. If the User Interface is in
• "run mode", the enabling device will not be active.
• "programming mode", the enabling device will be
active. It is possible to use password protection for
changing the mode by the User Interface.
UR5e
Description
Description
What happens? Tole-
rance
The "safe home 1.7 °
output" can only
be activated
when the robot is
in the configured
"safe home
position"
92
16. Safety Functions Tables
PFHd Affects
1.20E- External
07 connection
to logic
and/or
equipment
PFHd Affects
PFHd is Robot
either
1.20E-07 or
1.50E-07
depending
on the
safety
function
Input to Robot
SF2 (See
SF2)
Input to Robot
SF2 (See
SF2
safeguard
stop)
User Manual