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17. Tablas de funciones de seguridad
SF# and
Safety
Description
Function
SF5
Monitors the TCP Pose
Called
(position and orientation)
various
and will prevent exceeding a
names: Pose
safety plane or TCP Pose
Limit, Tool
Limit. Multiple pose limits
Limit,
are possible (tool flange,
Orientation
elbow, and up to 2
Limit, Safety
configurable tool offset
Planes,
points with a radius)
Safety
Orientation restricted by the
Boundaries
deviation from the feature Z
direction of the tool flange
OR the TCP. 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 and wrist
inclusion/ exclusion zones
due to the safety planes.
SF6
Monitors the TCP and elbow
Speed Limit
speed to prevent exceeding
TCP & Elbow
a speed limit.
Manual de usuario
Tole-
What happens?
rance
Will not allow
40 mm
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.
mm/s
97
PFHd
Affects
3 °
1.20E-
TCP
Tool
07
flange
Elbow
50
1.20E-
TCP
07
UR3e
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