Universal Robots e Série Traduction Des Instructions D'origine page 103

17. Tableaux des fonctions de sécurité
SF# and
Safety
Function
This safety function is initiated by an
external protective device using
safety inputs which will initiate a Cat 2
stop3. The tool I/O are unaffected by
SF2 the safeguard stop. Various
Safeguard configurations are provided. If an
Stop4 enabling device is connected, it is
(Protective possible to configure the safeguard
Stop stop to function in automatic mode
according ONLY. See the Stop Time and Stop
to ISO Distance Safety Functions4 . For the
10218-1) functional safety of the complete
integrated safety function, add the
PFHd of the external protective
device to the PFHd of the Safeguard
Stop.
Sets upper and lower limits for the
allowed joint positions. Stopping time
and distance is not a considered as
the limit(s) will not be violated. Each
SF3
Joint
joint can have its own limits. Directly
Position
limits the set of allowed joint positions
Limit (soft
that the joints can move within. It is
axis
set in the safety part of the User
limiting)
Interface. It is a means of safety-rated
soft axis limiting and space limiting,
according to ISO 10218-1:2011,
5.12.3.
Sets an upper limit for the joint speed.
Each joint can have its own limit. This
safety function has the most influence
on energy transfer upon contact
SF4
(clamping or transient). Directly limits
Joint
the set of allowed joint speeds which
Speed
the joints are allowed to perform. It is
Limit
set in the safety setup part of the User
Interface. Used to limit fast joint
movements, e.g. risks related to
singularities.
Manuel utilisateur
Description What happens?
Category 2 stop
(IEC 60204-1) SS2
stop (as described
in IEC 61800-5-2)
Will not allow
motion to exceed
any limit settings.
Speed 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.
Speed could be
reduced so motion
will not exceed any
limit. A protective
stop will be initiated
to prevent
exceeding any limit.
89
Tole-
PFHd Affects
rance
1.20E-
- Robot
07
1.20E- Joint
5°
07 (each)
1.15 1.20E- Joint
°/s 07 (each)
UR16e