Universal Robots e-Serie Manual De Usuario página 115

17. Tablas de funciones de seguridad
SF# and
Safety Description
Function
SF17 Safety function which monitors
Safe
a safety rated output, such
Home
that it ensures that the output
Position
can only be activated when
the robot is in the configured
"safe home position". A cat 0
stop is initiated if the output is
activated when the robot is not
in the configured position.
Safety
Description
Function
Reduced Reduced Mode can be initiated by a safety plane/
Mode SF boundary (starts when at 2cm of the plane and reduced
settings mode settings are achieved within 2cm of the plane) or by
change use of an input to initiate (will achieve reduced settings
within 500ms). When the external connections are Low,
Reduced Mode is initiated. Reduced Mode means that
ALL reduced mode limits are ACTIVE. Reduced mode is
not a safety function, rather it is a state affecting the
settings of the following safety function limits: joint
position, joint speed, TCP pose limit, TCP speed, TCP
force, momentum, power, stopping time, and stopping
distance.
Safeguard When configured for Safeguard Reset and the external
Reset connections transition from low to high, the safeguard
stop RESETS. Safety input to initiate a reset of safeguard
stop safety function.
3 Position When the external Enabling Device connections are Low,
Enabling a Safeguard Stop (SF2) is initiated. Recommendation:
Device Use with a mode switch as a safety input. If a mode
INPUT switch is not used and connected to the safety inputs,
then the robot mode will be determined by the User
Interface. If the User Interface is in:
• "run mode", the enabling device will not be active.
• "programming mode", the enabling device will be
Manual de usuario
active. It is possible to use password protection for
changing the mode by the User Interface.
Tole-
What happens?
rance
The "safe home 1.7 °
output" can only
be activated
when the robot
is in the
configured "safe
home position"
101
PFHd Affects
1.20E- External
07 connection
to logic
and/or
equipment
PFHd Affects
PFHd is Robot
either
1.20E-07 or
1.50E-07
depending
on the
safety
function
Input to SF2 Robot
(See SF2)
Input to SF2 Robot
(See SF2
safeguard
stop)
UR3e