Universal Robots PolyScope X UR16e User Manual page 113

Part I Hardware Installation Manual
Mode switch INPUT
Freedrive INPUT
1.15.2. Table 2
Description
Collaborative
Operation 2011
edition, clause
5.10.2
User Manual
Description
When the external connections are Low, Operation Mode
(running/ automatic operation in automatic mode) is in effect.
When High, mode is programming/ teach. Recommendation:
Use with an enabling device, for example a UR e-Series
Teach Pendant with an integrated 3-position enabling device.
When in teach/program, initially both TCP speed and elbow
speed will be limited to 250mm/s. The speed can manually be
increased by using the pendant user interface "speed-slider",
but upon activation of the enabling device, the speed
limitation will reset to 250mm/s.
Description
Recommendation: Use with 3PE TP and/or 3 Position Enabling
Device INPUT. When Freedrive INPUT is High, the robot will
only enter Freedrive if the following conditions are satisfied:
• 3PE TP button is not pressed
• 3 Position Enabling Device INPUT either not configured
or not pressed (INPUT Low)
UR e-Series robots comply with ISO 10218-1:2011 and the applicable portions of
ISO/TS 15066. It is important to note that most of ISO/TS 15066 is directed towards
the integrator and not the robot manufacturer. ISO 10218-1:2011, clause 5.10
collaborative operation details 4 collaborative operation techniques as explained
below. It is very important to understand that collaborative operation is of the
APPLICATION when in AUTOMATIC mode.
Technique
Stop condition where position is held at a
standstill and is monitored as a safety
function. Category 2 stop is permitted to
Safety-rated
auto reset. In the case of resetting and
monitored
restarting operation after a safety -rated
stop
monitored stop, see ISO 10218-2 and
ISO/TS 15066 as resumption shall not
cause hazardous conditions.
Explanation
113
PFH Affects
D
Less
than
1.8E-
Robot
07
Input to
SF2
PFH Affects
D
Less
than
1.8E-
Robot
07
Input to
SF2
UR e-Series
UR robots' safeguard
stop is a safety-rated
monitored stop, See SF2
on page 1. It is likely, in
the future, that "safety-
rated monitored stop" will
not be called a form of
collaborative operation.
UR16e PolyScope X