Universal Robots e Serie Manual De Usuario página 102

# ISO 10218-1
Speed and
Collaborative separation
Operation monitoring
3
2011 edition, (SSM)
clause 5.10.4 safety
functions
UR10e
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
90
17. Table 2
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.
Manual de usuario