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SF# and
Safety
Description
Function
SF3
Sets upper and lower limits
Joint Position
for the allowed joint
Limit (soft
positions. Stopping time and
axis limiting)
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
Sets an upper limit for the
Joint Speed
joint speed. Each joint can
Limit
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 Torque
Exceeding the internal joint
Limit
torque limit (each joint)
results in a Cat 0 stop3. This
is shown as SF #5 in the
Generation 3 (CB3) UR
robots. This is not
accessible to the user; it is a
factory setting. It is NOT
shown as a safety function
because there are no user
settings and no user
configuration possibilities.
UR3e
17. Tablas de funciones de seguridad
Tole-
What happens?
rance
Will not allow
motion to exceed
any limit settings.
Speed could be
reduced so
motion will not
exceed any limit.
A protective stop
will be initiated to
prevent
exceeding any
limit.
Will not allow
1.15 °/s 1.20E-
motion to exceed
any limit settings.
Speed could be
reduced so
motion will not
exceed any limit.
A protective stop
will be initiated to
prevent
exceeding any
limit.
-
96
PFHd
Affects
5°
1.20E-
Joint
07
(each)
Joint
07
(each)
-
-
-
Manual de usuario
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