Universal Robots e Series Gebruikershandleiding pagina 106
Verberg thumbnails
Zie ook voor e Series:
- Gebruikershandleiding (205 pagina's) ,
- Gebruikershandleiding (231 pagina's) ,
- Gebruikershandleiding (323 pagina's)
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SF# and
Safety
Function
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 control SW continuously
calculates the stopping capability of the
SF15
Stopping
robot in the given motion. If the time
Time
needed to stop the robot is at risk of
Limit
exceeding the time limit, the speed of
motion is reduced to ensure the limit is not
exceeded. The safety function performs
the same calculation of the stopping time
and initiates a cat 0 stop if they are
exceeded.
Real time monitoring of conditions such
that the stopping distance limit will not be
exceeded. Robot speed is limited to
ensure that the stop distance limit will not
be exceeded. The control SW
SF16
continuously calculates the stopping
Stopping
capability of the robot in the given motion.
Distance
If the distance needed to stop the robot is
Limit
at risk of exceeding the distance limit, the
speed of motion is reduced to ensure the
limit is not exceeded. The safety function
performs the same calculation of the
stopping distance and initiates a cat 0 stop
if they are exceeded.
Safety function which monitors a safety
rated output, such that it ensures that the
SF17
output can only be activated when the
Safe
robot is in the configured "safe home
Home
position". A cat 0 stop is initiated if the
Position
output is activated when the robot is not in
the configured position.
UR3e
Description
What happens?
Will not allow the
actual stopping time
to exceed the limit
setting. Causes
decrease in speed
or a protective stop
so as NOT to
exceed the limit
Will not allow the
actual stopping time
to exceed the limit
setting. Causes
decrease in speed
or a protective stop
so as NOT to
exceed the limit
The "safe home
output" can only be
activated when the
robot is in the
configured "safe
home position"
92
17. Veiligheidsfunctietabellen
Tole-
PFHd
Affects
rance
1.20E-
50 ms
Robot
07
1.20E-
40 mm
Robot
07
External
connection
1.20E-
1.7 °
to logic
07
and/or
equipment
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