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Safety
Description
Function
Mode
When the external connections are Low, Operation Mode
switch
(running/ automatic operation in automatic mode) is in
INPUT
effect. When High, mode is programming/ teach.
Recommendation: Use with a 3-position enabling device.
When in teach/program, initially the TCP speed will be
limited to 250mm/s. The speed can manually be
increased by using the pendant user interface "speed-
slider", but upon activation of the enabling device, the
speed limitation will reset to 250mm/s.
17.2. Table 2
UR e-Series robots comply with ISO 10218-1:2011 and the applicable portions of ISO/TS 15066. It
is important to note that most of ISO/TS 15066 is directed towards the integrator and not the robot
manufacturer. ISO 10218-1:2011, clause 5.10 collaborative operation details 4 collaborative
operation techniques as explained below. It is very important to understand that collaborative
operation is of the APPLICATION when in AUTOMATIC mode.
#
ISO 10218-1
1
Collaborative
Operation 2011
edition, clause
5.10.2
UR3e
Technique
Safety-rated
Stop condition where position is
monitored
held at a standstill and is
stop
monitored as a safety function.
Category 2 stop is permitted to
auto reset. In the case of
resetting and restarting
operation after a safety -rated
monitored stop, see ISO 10218-
2 and ISO/TS 15066 as
resumption shall not cause
hazardous conditions.
17. Tablas de funciones de seguridad
Explanation
102
PFHd
Affects
Input to SF2
Robot
(See SF2
safeguard
stop)
UR e-Series
UR robots' safeguard
stop is a safety-rated
monitored stop, See
SF2 on page 1. It is
likely, in the future, that
"safety-rated monitored
stop" will not be called a
form of collaborative
operation.
Manual de usuario
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