Universal Robots e Serie Manual De Usuario página 99

16. Tablas de funciones de seguridad
SF# and
Safety
Function
Real time monitoring of conditions
such that the stopping time limit will
not be exceeded. Robot speed is
limited to ensure that the stop time
limit is not exceeded. The control SW
continuously calculates the stopping
SF15
capability of the robot in the given
Stopping
motion. If the time needed to stop the
Time
robot is at risk of exceeding the time
Limit
limit, the speed of motion is reduced to
ensure the limit is not exceeded. The
safety function performs the same
calculation of the stopping time and
initiates a cat 0 stop if they are
exceeded.
Real time monitoring of conditions
such that the stopping distance limit
will not be exceeded. Robot speed is
limited to ensure that the stop distance
limit will not be exceeded. The control
SW continuously calculates the
SF16
stopping capability of the robot in the
Stopping
given motion. If the distance needed to
Distance
stop the robot is at risk of exceeding
Limit
the distance limit, the speed of motion
is reduced to ensure the limit is not
exceeded. The safety function performs
the same calculation of the stopping
distance and initiates a cat 0 stop if
they are exceeded.
Safety function which monitors a safety
rated output, such that it ensures that
SF17
the output can only be activated when
Safe
the robot is in the configured "safe
Home
home position". A cat 0 stop is initiated
Position
if the output is activated when the robot
is not in the configured position.
Manual de usuario
Description What happens?
Will not allow the
actual stopping
time to exceed the
limit setting.
Causes decrease
in speed or a
protective stop so
as NOT to exceed
the limit
Will not allow the
actual stopping
time to exceed the
limit setting.
Causes decrease
in speed or a
protective stop so
as NOT to exceed
the limit
The "safe home
output" can only
be activated when
the robot is in the
configured "safe
home position"
87
Tole-
PFHd Affects
rance
1.20E-
50 ms Robot
07
1.20E-
40 mm Robot
07
External
connection
1.20E-
1.7 ° to logic
07
and/or
equipment
UR10e