Table - Universal Robots e Série Traduction Des Instructions D'origine

Safety
Function
Reduced Mode can be initiated by a safety plane/ boundary (starts
when at 2cm of the plane and reduced mode settings are achieved
within 2cm of the plane) or by use of an input to initiate (will achieve
reduced settings within 500ms).
Reduced
When the external connections are Low, Reduced Mode is
Mode SF
initiated. Reduced Mode means that ALL reduced mode limits are
settings
ACTIVE.
change
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.
When configured for Safeguard Reset and the external
Safeguard connections transition from low to high, the safeguard stop
Reset RESETS. Safety input to initiate a reset of safeguard stop safety
function.
When the external Enabling Device connections are Low, a
Safeguard Stop (SF2) is initiated. Recommendation: Use with a
mode switch as a safety input. If a mode switch is not used and
3 Position
connected to the safety inputs, then the robot mode will be
Enabling
determined by the User Interface. If the User Interface is in
Device
• "run mode", the enabling device will not be active.
INPUT
• "programming mode", the enabling device will be active. It is
possible to use password protection for changing the mode
by the User Interface.
When the external connections are Low, Operation Mode (running/
automatic operation in automatic mode) is in effect. When High,
mode is programming/ teach. Recommendation: Use with a 3-
Mode
position enabling device. When in teach/program, initially the TCP
switch
speed will be limited to 250mm/s. The speed can manually be
INPUT
increased by using the pendant user interface "speed-slider", but
upon activation of the enabling device, the speed limitation will
reset to 250mm/s.

17.2. Table 2

UR e-Series robots comply with ISO 10218-1:2011 and the applicable portions of ISO/TS 15066. It is
important to note that most of ISO/TS 15066 is directed towards the integrator and not the robot
manufacturer. ISO 10218-1:2011, clause 5.10 collaborative operation details 4 collaborative operation
techniques as explained below. It is very important to understand that collaborative operation is of the
APPLICATION when in AUTOMATIC mode.
UR16e
Description
94
17. Tableaux des fonctions de sécurité
PFHd
PFHd is
either
1.20E-07
or 1.50E-
07
depending
on the
safety
function
Input to
SF2 (See
SF2)
Input to
SF2 (See
SF2
safeguard
stop)
Input to
SF2 (See
SF2
safeguard
stop)
Manuel utilisateur
Affects
Robot
Robot
Robot
Robot