Universal Robots UR30 PolyScope X User Manual page 125

19. Safety Functions Tables
Collaborative
Operation 2011
edition, clause
5.10.4
Speed and
separation
monitoring
(SSM) safety
functions
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 parameters
for the limiting
safety functions; or
2. a safety-rated
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.
125
UR e-Series
UR30 PolyScope X