Universal Robots UR5 Manuel Utilisateur page 91

Safety
SF#
Function
TCP
SF8
Force
Internal
Limit
Joint
SF9
Speed
Internal
Limit
Power
SF10
Internal
Limit
Safety
SF#
Function
SF11
Internal
as a UR Robot
function Estop
with Output
dual
outputs
SF12
Internal
UR Robot
as a
Moving:
function
Digital
with
Output
dual
outputs
SF13
Internal
UR Robot
as a
Not
function
stopping:
with
Digital
dual
Output
outputs
Manuel utilisateur
Exceeding the TCP force limit results in a Cat 0 stop5 (IEC
60204-1). Limits the external clamping force exerted by the
robot. See also Joint Torque Limit (SF5).
Exceeding the momentum limit results in a Cat 0 stop5 (IEC
60204-1). The momentum limit is very useful for limiting
transient impacts. The Momentum Limit affects the entire
robot arm.
Exceeding the power limit results in a Cat 0 stop5 (IEC 60204-
1). This function monitors the mechanical work (sum of joint
torques times joint angular speeds) performed by the robot,
which also affects the current to the robot arm as well as the
speed of the robot arm. This function dynamically limits the
current/torque but maintain the speed.
When configured for Estop output and there is an Estop
condition (see SF1), the dual outputs are LOW. If there is no
Estop condition, dual outputs are high. Pulses are not used
but they are tolerated. For the integrated functional safety
rating with an external Estop device, add the PFHd of the UR
Estop function (SF0 or SF1) to the PFHd of the external logic
(if any) and its components (e.g. Estop pushbutton).
Whenever the robot is moving (motion underway), the dual
digital outputs are LOW. Outputs are HIGH when no
movement. The functional safety rating is for what is within
the UR robot. The integrated functional safety performance
requires adding this PFHd to the PFHd of the external logic
(if any) and its components.
Whenever the robot is STOPPING (in process of stopping or
in a stand-still condition) the dual digital outputs are HIGH.
When outputs are LOW, robot is NOT in the process or
stopping and NOT in a stand-still condition. The functional
safety rating is for what is within the UR robot. The
integrated functional safety performance requires adding
this PFHd to the PFHd of the external logic (if any) and its
components.
Description
Description
83
What is
controlled?
TCP
Robot Arm
Robot Arm
What is
controlled?
External
connection
to logic
and/or
equipment
External
connection
to logic
and/or
equipment
External
connection
to logic
and/or
equipment
UR5