Universal Robots UR30 PolyScope X User Manual page 122

19.1. Table 1a
Reduced
Description
Mode SF
Reduced Mode can be initiated by a safety plane/ boundary (starts
parameter
at 2cm of the plane and reduced mode settings are achieved
settings
within 2cm of the plane) or by use of an input to initiate (will
change
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.
Safeguard
Description
Reset
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.
3-Position
Description
Enabling
When the external Enabling Device connections are Low, a
Device
Safeguard Stop (SF2) is initiated. Recommendation: Use with a
INPUT
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 will not be active.
• "programming mode", the enabling device will be active. It is
UR30 PolyScope X
possible to use password protection for changing the mode by
the User Interface.
122
19. Safety Functions Tables
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