Universal Robots e Series Gebruikershandleiding pagina 104
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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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SF# and
Safety
Function
The Force Limit is the force exerted
by the robot at the 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
SF7
control their torque output to stay
Force Limit
within the allowed torque range. This
(TCP)
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.
The momentum limit is very useful for
SF8
limiting transient impacts. The
Momentum
Momentum Limit affects the entire
Limit
robot.
This function monitors the
mechanical work (sum of joint
torques times joint angular speeds)
performed by the robot, which also
SF9
Power
affects the current to the robot arm as
Limit
well as the robot speed. This safety
function dynamically limits the
current/ torque but maintains the
speed.
UR3e
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.
Dynamic limiting of
the current/torque
90
17. Veiligheidsfunctietabellen
Tole-
PFHd
Affects
rance
1.50E-
25N
TCP
07
3 kg
1.20E-
Robot
m/s
07
1.50E-
10 W
Robot
07
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