Universal Robots e Series Gebruikershandleiding pagina 103
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Zie ook voor e Series:
- Gebruikershandleiding (205 pagina's) ,
- Gebruikershandleiding (231 pagina's) ,
- Gebruikershandleiding (323 pagina's)
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17. Veiligheidsfunctietabellen
SF# and
Safety
Function
Exceeding the internal joint torque
limit (each joint) results in a Cat 0
stop3. This is shown as SF #5 in the
Joint
Generation 3 (CB3) UR robots. This
Torque
is not accessible to the user; it is a
Limit
factory setting. It is NOT shown as a
safety function because there are no
user settings and no user
configuration possibilities.
Monitors the TCP Pose (position and
orientation) and will prevent
exceeding a safety plane or TCP
Pose Limit. Multiple pose limits are
SF5
Called
possible (tool flange, elbow, and up to
various
2 configurable tool offset points with a
names:
radius) Orientation restricted by the
Pose Limit,
deviation from the feature Z direction
Tool Limit,
of the tool flange OR the TCP. This
Orientation
safety function consists of two parts.
Limit,
One is the safety planes for limiting
Safety
the possible TCP positions. The
Planes,
second is the TCP orientation limit,
Safety
which is entered as an allowed
Boundaries
direction and a tolerance. This
provides TCP and wrist inclusion/
exclusion zones due to the safety
planes.
SF6
Speed
Monitors the TCP and elbow speed
Limit TCP
to prevent exceeding a speed limit.
& Elbow
Gebruikershandleiding
Description
What happens?
-
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.
89
Tole-
PFHd
Affects
rance
-
-
-
TCP
3 °
1.20E-
Tool
40
07
flange
mm
Elbow
50
1.20E-
TCP
mm/s
07
UR3e
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