Universal Robots UR30 PolyScope X User Manual page 116

SF2
Description
Safeguard
Stop 4
This safety function is initiated by an external
(Robot Stop
protective device using safety inputs that initiate
according to
a Cat 2 stop
ISO 10218-1)
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
the functional safety of the complete integrated
safety function, add the PFHd of the external
protective device to the PFHd of the Safeguard
Stop.
SF3 Joint
Description
Position
Limit (soft
axis
Sets upper and lower limits for the allowed
limiting)
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.
SF4 Joint
Description
Speed
Limit
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.
Joint Exceeding the internal joint torque limit (each joint) results in a Cat 0
Torque to the user; it is a factory setting. It is NOT shown as an e-Series safety function because
Limit there are no user settings and no user configurations.
UR30 PolyScope X
3
. The tool I/O are unaffected by the
116
19. Safety Functions Tables
What Tolerance
happens? and PFH
Category 2
stop (IEC
60204-1)
Tol: --
SS2 stop
PFH
(as
07
4
. For described in
IEC 61800-
5-2)
Tolerance
What happens?
and PFH
Will not allow
motion to exceed
any limit settings.
Speed could be
reduced so
Tol: 5°
motion will not
PFH
exceed any limit.
07
A robot stop will
be initiated to
prevent
exceeding any
limit.
Tolerance
What happens?
and PFH
Will not allow
motion to exceed
any limit settings.
Speed could be
Tol: 1.15 °/s
reduced so motion
PFH
will not exceed any
07
limit. A robot stop
will be initiated to
prevent exceeding
any limit.
3
Affects
D
: 1.8E- Robot
D
Affects
D
Joint
: 1.8E-
D
(each)
Affects
D
Joint
: 1.8E-
D
(each)
. This is not accessible
User Manual