Universal Robots PolyScope X UR16e User Manual page 115

Part I Hardware Installation Manual
Collaborative
Operation 2011
edition, clause
5.10.4
User Manual
Technique Explanation
SSM is the robot
maintaining a separation
distance from any
operator (human). This
is done by monitoring of
the distance between
the robot system and
intrusions to ensure that
the MINIMUM
PROTECTIVE
DISTANCE is assured.
Usually, this is
accomplished using
Sensitive Protective
Equipment (SPE), where
typically a safety laser
scanner detects
intrusion(s) towards the
robot system.
This SPE causes:
1. dynamic
changing of the
Speed and
parameters for
separation
the limiting safety
monitoring
functions; or
(SSM) safety
2. a safety-rated
functions
monitored stop
condition.
Upon detection of the
intrusion exiting the
protective device's
detection zone, the robot
is permitted to:
1. resume the
"higher" normal
safety function
limits in the case
of 1) above
2. resume operation
in the case of 2)
above
In the case of 2) 2),
restarting operation after
a safety -rated
monitored stop, see ISO
10218-2 and ISO/TS
15066 for requirements.
To facilitate SSM, UR robots have the
capability of switching between two sets of
parameters for safety functions with
configurable limits (normal and reduced).
See Reduced Mode on page 4. Normal
operation can be when no intrusion is
detected. It can also be caused by safety
planes/ safety boundaries. Multiple safety
zones can be readily used with UR robots.
For example, one safety zone can be used
for "reduced settings" and another zone
boundary is used as a safeguard stop
input to the UR robot. Reduced limits can
also include a reduced setting for the stop
time and stop distance limits – to reduce
the work area and floorspace.
115
UR e-Series
UR16e PolyScope X