Universal Robots PolyScope X UR16e User Manual page 112

1.15.1. Table 1a
Reduced Mode
SF parameter
settings change
Safeguard Reset
3-Position Enabling Device INPUT
UR16e PolyScope X
Description
Reduced Mode can be initiated by a safety plane/ boundary
(starts at 2cm of the plane and reduced mode settings are
achieved within 2cm of the plane) or by use of an input to
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
change 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. Reduced mode is a means of parametrization of
safety functions in accordance with ISO 13849-1. All
parameter values need to be verified and validated as to
whether they are appropriate for the robot application.
Description
When configured for Safeguard Reset and the external
connections transition from low to high, the safeguard stop
RESETS. Safety input to initiate a reset of safeguard stop
safety function.
Description
When the external Enabling Device
connections are Low, a Safeguard Stop (SF2)
is initiated. Recommendation: Use with a
mode switch as a safety input. If a mode
switch is not used and connected to the safety
inputs, then the robot mode will be determined
by the User Interface. If the User Interface is
in:
• "running mode", the enabling device
• "programming mode", the enabling
will not be active.
device will be active. It is possible to
use password protection for changing
the mode by the User Interface.
112
Part I Hardware Installation Manual
PFH Affects
D
Less
than
Robot
1.8E-
07
PFH Affects
D
Less
than
1.8E-
Robot
07
Input to
SF2
PFH Affects
D
Less
than
1.8E-
Robot
07
Input to
SF2
User Manual