Universal Robots UR30 PolyScope X User Manual page 120

SF15
Description
Stopping
Time Limit
Real time monitoring of conditions such that
the stopping time limit will not be exceeded.
Robot speed is limited to ensure that the
stop time limit is not exceeded.
The stopping capability of the robot in the
given motion(s) is continuously monitored
to prevent motions that would exceed the
stopping limit. If the time needed to stop the
robot is at risk of exceeding the time limit,
the speed of motion is reduced to ensure
the limit is not exceeded. A robot stop will
be initiated to prevent exceeding the limit.
The safety function performs the same
calculation of the stopping time for the
given motion(s) and initiates a cat 0 stop if
the stopping time limit will be or is
exceeded.
SF16
Description
Stopping
Distance
Real time monitoring of conditions such that
Limit
the stopping distance limit will not be
exceeded. Robot speed is limited to ensure
that the stop distance limit will not be
exceeded.
The stopping capability of the robot in the
given motion(s) is continuously monitored
to prevent motions that would exceed the
stopping limit. If the time needed to stop the
robot is at risk of exceeding the time limit,
the speed of motion is reduced to ensure
the limit is not exceeded. A robot stop will
be initiated to prevent exceeding the limit.
The safety function performs the same
calculation of the stopping distance for the
given motion(s) and initiates a cat 0 stop if
stopping time limit will be or is exceeded.
UR30 PolyScope X
What happens?
Will not allow the
actual stopping
time to exceed
the limit setting.
Causes
decrease in
speed or a robot
stop so as NOT
to exceed the
limit
What happens?
Will not allow the
actual stopping
time to exceed
the limit setting.
Causes
decrease in
speed or a robot
stop so as NOT
to exceed the
limit
120
19. Safety Functions Tables
Tolerances
Affects
and PFH :
D
TOL: 50 ms
PFH : 1.8E-
Robot
D
07
Tolerances
Affects
and PFH :
D
TOL: 40 mm
PFH : 1.8E-
Robot
D
07
User Manual