Universal Robots CB Series Hardware Manual

SF# and
Safety
Function
Description What happens?
Tole-
rance
PFHd Affects
SF17
Safe
Home
Position
Safety function which
monitors a safety rated
output, such that it ensures
that the output can only be
activated when the robot is in
the configured “safe home
position”. A cat 0 stop is
initiated if the output is
activated when the robot is
not in the configured position.
The “safe home
output” can only
be activated
when the robot
is in the
configured “safe
home position”
1.7 ° 1.20E-
07
External
connection
to logic
and/or
equipment
Safety
Function
Description PFHd Affects
Reduced
Mode SF
settings
change
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). When the external connections
are Low, Reduced Mode is initiated. Reduced Mode
means that ALL reduced mode limits are ACTIVE.
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.
PFHd is
either
1.20E-07 or
1.50E-07
depending
on the
safety
function
Robot
Safeguard
Reset
When configured for Safeguard Reset and the external
connections transition from low to high, the safeguard
stop RESETS. Safety input to initiate a reset of safeguard
stop safety function.
Input to SF2
(See SF2)
Robot
3 Position
Enabling
Device
INPUT
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 connected to the safety inputs,
then the robot mode will be determined by the User
Interface. If the User Interface is in:
•
“run mode”, the enabling device will not be active.
•
“programming mode”, the enabling device will be
active. It is possible to use password protection
for changing the mode by the User Interface.
Input to SF2
(See SF2
safeguard
stop)
Robot
Hardware Manual 95 UR5e
15.Safety Functions Tables
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.

Universal Robots CB Series Specifications

General

Brand	Universal Robots
Model	CB Series
Category	Robotics
Language	English