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SF# and

Safety

Function

Description What happens?

Tole-

rance

PFHd Affects

SF7

Force Limit

(TCP)

The Force Limit is the force

exerted by the robot at the

TCP (tool center point) and

“elbow”. The safety

function continuously

calculates the torques

allowed for each joint to

stay within the defined

force limit for both the TCP

& the elbow. The joints

control their torque output

to stay within the allowed

torque range. This means

that the forces at the TCP

or elbow will stay within the

defined force limit. When a

monitored stop is initiated

by the Force Limit SF, the

robot will stop, then “back-

off” to a position where the

force limit was not

exceeded. Then it will stop

again.

Will not allow

motion to exceed

any limit settings.

Speed or torques

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.

25N 1.50E-

TCP

SF8

Momentum

Limit

The momentum limit is

very useful for limiting

transient impacts. The

Momentum Limit affects

the entire robot.

3 kg

m/s

1.20E-

Robot

SF9

Power Limit

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

robot speed. This safety

function dynamically limits

the current/ torque but

maintains the speed.

Dynamic limiting

of the

current/torque

10 W 1.50E-

Robot

UR5e 92 Hardware Manual

15.Safety Functions Tables

Brand	Universal Robots
Model	CB Series
Category	Robotics
Language	English

Universal Robots CB Series Hardware Manual

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