Table 1A - Universal Robots e Series Gebruikershandleiding
Verberg thumbnails
Zie ook voor e Series:
- Gebruikershandleiding (205 pagina's) ,
- Gebruikershandleiding (231 pagina's) ,
- Gebruikershandleiding (281 pagina's)
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17. Veiligheidsfunctietabellen
17.2. Table 1A
Safety
Description
Function
Reduced
Reduced Mode can be initiated by a safety
Mode
plane/ boundary (starts when at 2cm of the
SF
plane and reduced mode settings are achieved
parameter
within 2cm of the plane) or by use of an input to
settings
initiate (will achieve reduced settings within
change
500ms).
When the external connections are Low,
Reduced Mode is initiated. Reduced Mode
means that ALL reduced mode limits are
ACTIVE.
Reduced mode is not a safety function, rather it
is a state change affecting the settings of the
following safety function limits: joint position,
joint speed, TCP pose limit, TCP speed, TCP
force, momentum, power, stopping time, and
stopping distance.
Reduced mode is a means of parameterization
of safety functions in accordance with ISO
13849-1.
All parameter values need to be verified and
validated as to whether they are appropriate for
the robot application.
Safeguard
When configured for Safeguard Reset and the
Reset
external connections transition from low to high,
the safeguard stop RESETS. Safety input to
initiate a reset of safeguard stop safety function.
3 Position
When the external Enabling Device
Enabling
connections are Low, a Safeguard Stop (SF2) is
Device
initiated. Recommendation: Use with a mode
INPUT
switch as a safety input. If a mode switch is not
used and connected to the safety inputs, then
the robot mode will be determined by the User
Interface. If the User Interface is in:
• "run mode", the enabling device will not
• "programming mode", the enabling
Gebruikershandleiding
be active.
device will be active. It is possible to use
password protection for changing the
mode by the User Interface.
PFH
Less than 1.8E-07
Less than 1.8E-07
Input to SF2
Less than 1.8E-07
Input to SF2
105
Affects
D
Robot
Robot
Robot
UR16e
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