Universal Robots UR3 Manual De Usuario página 89

Safety
SF#
Function
Joint
SF4
Speed
Internal
Limit
Joint
SF5
Torque
Internal
Limit
Safety
SF#
Function
SF6 TCP Pose
Internal
Limit
TCP
SF7
Speed
Internal
Limit
TCP
SF8
Force
Internal
Limit
Joint
SF9
Speed
Internal
Limit
SF10 Power
Internal
Limit
Manual de usuario
Exceeding a joint speed limit results in a Cat 0 stop5 per
IEC 60204-1. Each joint can have its own limit. Directly
limits the set of allowed joint speeds which the joints are
allowed to perform. It is set directly in the safety setup
part of the User Interface where you can enter values. It
can be used to limit fast joint movements, for instance to
limit risks related to singularities.
Exceeding the joint torque limit (each joint) results in a
Cat 0 stop5 (per IEC 60204-1). This is not accessible to
the user as it is a factory setting, part of the force limiting
safety function.
Monitors the TCP Pose (position and orientation), any
violation of a safety plane or TCP Pose Limit will result in a
Cat 0 stop5 (IEC 60204-1). This safety function consists of
two parts. One is the safety planes for limiting the possible
TCP positions. The second is the TCP orientation limit, which
is entered as an allowed direction and a tolerance. This
provides TCP inclusion/ exclusion zones due to the safety
planes. When a limit (plane or TCP pose) is violated, a Cat 0
stop is initiated.
Exceeding the TCP speed limit results in a Cat 0 stop5 (IEC
60204-1).
Exceeding the TCP force limit results in a Cat 0 stop5 (IEC
60204-1). Limits the external clamping force exerted by the
robot. See also Joint Torque Limit (SF5).
Exceeding the momentum limit results in a Cat 0 stop5 (IEC
60204-1). The momentum limit is very useful for limiting
transient impacts. The Momentum Limit affects the entire
robot arm.
Exceeding the power limit results in a Cat 0 stop5 (IEC 60204-
1). This function monitors the 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
speed of the robot arm. This function dynamically limits the
current/torque but maintain the speed.
Description
Description
81
What is
controlled?
Joint
(each)
Joint
(each)
What is
controlled?
TCP
TCP
TCP
Robot Arm
Robot Arm
UR3