Universal Robots e Series Gebruikershandleiding pagina 109
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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
#
ISO 10218-1
Speed and
Collaborative
separation
Operation
monitoring
3
2011 edition,
(SSM)
clause 5.10.4
safety
functions
Gebruikershandleiding
Technique
SSM is the robot maintaining a
separation distance from any
operator (human). This is done by
monitoring of the distance between
the robot system and intrusions to
ensure that the MINIMUM
PROTECTIVE DISTANCE is
assured. Usually, this is accomplished
using Sensitive Protective Equipment
(SPE), where typically a safety laser
scanner detects intrusion(s) towards
the robot system.
This SPE causes:
1. dynamic changing of the
parameters for the limiting
safety functions; or
2. a safety-rated monitored stop
condition.
Upon detection of the intrusion exiting
the protective device's detection
zone, the robot is permitted to:
1. resume the "higher" normal
safety function limits in the case
of 1) above
2. resume operation in the case of
2) above
In the case of 2) 2), restarting
operation after a safety -rated
monitored stop, see ISO 10218-2 and
ISO/TS 15066 for requirements.
Explanation
95
UR e-Series
To facilitate SSM, UR
robots have the capability
of switching between two
sets of parameters for
safety functions with
configurable limits (normal
and reduced). See
Reduced Mode on page 4.
Normal operation can be
when no intrusion is
detected. It can also be
caused by safety planes/
safety boundaries. Multiple
safety zones can be
readily used with UR
robots. For example, one
safety zone can be used
for "reduced settings" and
another zone boundary is
used as a safeguard stop
input to the UR robot.
Reduced limits can also
include a reduced setting
for the stop time and stop
distance limits – to reduce
the work area and
floorspace.
UR3e
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