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SF# and
Safety
Description
Function
SF7
The Force Limit is the force
Force Limit
exerted by the robot at the
(TCP)
TCP (tool center point) and
"elbow". The safety function
continuously calculates the
torques allowed for each
joint to stay within the
defined force limit for both
the TCP & the elbow. The
joints control their torque
output to stay within the
allowed torque range. This
means that the forces at the
TCP or elbow will stay within
the defined force limit.
When a monitored stop is
initiated by the Force Limit
SF, the robot will stop, then
"back-off" to a position
where the force limit was not
exceeded. Then it will stop
again.
SF8
The momentum limit is very
Momentum
useful for limiting transient
Limit
impacts. The Momentum
Limit affects the entire robot.
SF9
This function monitors the
Power Limit
mechanical work (sum of
joint torques times joint
angular speeds) performed
by the robot, which also
affects the current to the
robot arm as well as the
robot speed. This safety
function dynamically limits
the current/ torque but
maintains the speed.
UR3e
17. Tablas de funciones de seguridad
Tole-
What happens?
rance
Will not allow
motion to exceed
any limit settings.
Speed or torques
could be reduced
so motion will not
exceed any limit.
A protective stop
will be initiated to
prevent
exceeding any
limit. Will not allow
motion to exceed
any limit settings.
Dynamic limiting
10 W
of the
current/torque
98
PFHd
Affects
25N
1.50E-
TCP
07
3 kg
1.20E-
Robot
m/s
07
1.50E-
Robot
07
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