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SF# and
Safety
Description
Function
SF15
Real time monitoring of
Stopping
conditions such that the
Time Limit
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
capability of the robot in the
given motion. If the time
needed to stop the robot is at
risk of exceeding the time
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.
SF16
Real time monitoring of
Stopping
conditions such that the
Distance
stopping distance limit will not
Limit
be exceeded. Robot speed is
limited to ensure that the stop
distance limit will not be
exceeded. The control SW
continuously calculates the
stopping capability of the robot
in the given motion. If the
distance needed to stop the
robot is at risk of exceeding
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.
UR3e
17. Tablas de funciones de seguridad
Tole-
What happens?
rance
Will not allow
50 ms
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
40 mm
the actual
stopping time to
exceed the limit
setting. Causes
decrease in
speed or a
protective stop
so as NOT to
exceed the limit
100
PFHd
Affects
1.20E-
Robot
07
1.20E-
Robot
07
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