Universal Robots PolyScope X UR16e User Manual page 105

Part I Hardware Installation Manual
SF2 Safeguard
Stop 4 (Robot
Stop according to
ISO 10218-1)
SF3 Joint
Position Limit
(soft axis limiting)
SF4 Joint Speed Limit
User Manual
Description
This safety function is initiated by an
external protective device using safety
inputs that initiate a Cat 2 stop
I/O are unaffected by the safeguard stop.
Various configurations are provided. If an
enabling device is connected, it's possible
to configure the safeguard stop to function
in automatic mode ONLY. See the Stop
Time and Stop Distance Safety Functions
For the functional safety of the complete
integrated safety function, add the PFHd of
the external protective device to the PFHd
of the Safeguard Stop.
Description
Sets upper and lower limits for the
allowed joint positions. Stopping time
and distance is not a considered as the
limit(s) will not be violated. Each joint
can have its own limits. Directly limits
the set of allowed joint positions that the
joints can move within. It is set in the
safety part of the User Interface. It is a
means of safety-rated soft axis limiting
and space limiting, according to ISO
10218-1:2011, 5.12.3.
Description
Sets an upper limit for the joint
speed. Each joint can have its 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.
What
happens?
3
. The tool
Category 2
stop (IEC
60204-1)
SS2 stop
(as
described in
4
.
IEC 61800-
5-2)
What
happens?
Will not allow
motion to
exceed any
limit settings.
Speed could be
reduced so
motion will not
exceed any
limit. A robot
stop will be
initiated to
prevent
exceeding any
limit.
What
happens?
Will not allow
motion to
exceed any
limit settings.
Speed could
be reduced so
motion will not
exceed any
limit. A robot
stop will be
initiated to
prevent
exceeding any
limit.
105
Tolerance
Affects
and PFH
D
Tol: --
PFH : 1.8E- Robot
D
07
Tolerance
Affects
and PFH
D
Tol: 5°
Joint
PFH : 1.8E-
D
(each)
07
Tolerance
Affects
and PFH
D
Tol: 1.15 °/s
Joint
PFH : 1.8E-
D
(each)
07
UR16e PolyScope X