Universal Robots e Series Gebruikershandleiding pagina 113
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Zie ook voor e Series:
- Gebruikershandleiding (205 pagina's) ,
- Gebruikershandleiding (231 pagina's) ,
- Gebruikershandleiding (281 pagina's)
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17. Veiligheidsfunctietabellen
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.
Gebruikershandleiding
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
99
Tolerance
Affects
and PFH
D
Tol: 25N
TCP
PFH
: 1.8E-
D
07
Tol: 3kg m/s
Robot
PFH
: 1.8E-
D
07
Tol: 10W
Robot
PFH
:1.8E-07
D
UR16e
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