Universal Robots CB Series Hardware Manual

SF# and
Safety
Function
Description What happens?
Tole-
rance
PFHd Affects
SF15
Stopping
Time Limit
Real time monitoring of
conditions such that the
stopping time limit will not be
exceeded. Robot speed is
limited to ensure that the stop
time limit is not exceeded.
The control SW continuously
calculates the stopping
capability of the robot in the
given motion. If the time
needed to stop the robot is at
risk of exceeding the time
limit, the speed of motion is
reduced to ensure the limit is
not exceeded. The safety
function performs the same
calculation of the stopping
time and initiates a cat 0 stop
if they are exceeded.
Will not allow
the actual
stopping time to
exceed the limit
setting. Causes
decrease in
speed or a
protective stop
so as NOT to
exceed the limit
50 ms 1.20E-
07
Robot
SF16
Stopping
Distance
Limit
Real time monitoring of
conditions such that the
stopping distance limit will not
be exceeded. Robot speed is
limited to ensure that the stop
distance limit will not be
exceeded. The control SW
continuously calculates the
stopping capability of the
robot in the given motion. If
the distance needed to stop
the robot is at risk of
exceeding the distance limit,
the speed of motion is
reduced to ensure the limit is
not exceeded. The safety
function performs the same
calculation of the stopping
distance and initiates a cat 0
stop if they are exceeded.
Will not allow
the actual
stopping time to
exceed the limit
setting. Causes
decrease in
speed or a
protective stop
so as NOT to
exceed the limit
40 mm 1.20E-
07
Robot
UR5e 94 Hardware Manual
15.Safety Functions Tables
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Universal Robots CB Series Specifications

General

Brand	Universal Robots
Model	CB Series
Category	Robotics
Language	English