Universal Robots PolyScope X UR16e User Manual page 107

Part I Hardware Installation Manual
SF7 Force Limit (TCP)
SF8 Momentum Limit
SF9 Power Limit
User Manual
Description
The Force Limit is the force exerted
by the robot at the 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.
Description What happens?
The momentum
Will not allow motion to exceed any
limit is very
useful for
could be reduced so motion will not
limiting transient
impacts. The
Momentum
Limit affects the
entire robot.
Description
This function monitors the 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.
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 robot
stop will be
initiated to
prevent
exceeding
any limit. Will
not allow
motion to
exceed any
limit settings.
limit settings. Speed or torques
exceed any limit. A robot stop will
be initiated to prevent exceeding
any limit. Will not allow motion to
exceed any limit settings.
What
happens?
Dynamic
limiting of the
current/torque
107
Tolerance
Affects
and PFH
D
Tol: 25N
PFH : 1.8E- TCP
D
07
Tolerance
Affects
and PFH
D
Tol: 3kg m/s
PFH : 1.8E-
Robot
D
07
Tolerance
Affects
and PFH
D
Tol: 10W
PFH :1.8E-
Robot
D
07
UR16e PolyScope X