SF# and
Safety
Function
Description What happens? Tole-
rance
PFHd Affects
SF2
Safeguard
Stop4
(Protective
Stop
according to
ISO 10218-
1)
This safety function is initiated
by an external protective device
using safety inputs which will
initiate a Cat 2 stop3. The tool
I/O are unaffected by the
safeguard stop. Various
configurations are provided. If an
enabling device is connected, it
is possible to configure the
safeguard stop to function in
automatic mode ONLY. See the
Stop Time and Stop Distance
Safety Functions4 . For the
functional safety of the complete
integrated safety function, add
the PFHd of the external
protective device to the PFHd of
the Safeguard Stop.
Category 2 stop
(IEC 60204-1) SS2
stop (as described
in IEC 61800-5-2)
- 1.20E-
07
Robot
SF3
Joint
Position
Limit (soft
axis
limiting)
Sets upper and lower limits for
the allowed joint positions.
Stopping time and distance is
not a considered as the limit(s)
will not be violated. Each joint
can have its own limits. Directly
limits the set of allowed joint
positions that the joints can
move within. It is set in the safety
part of the User Interface. It is a
means of safety-rated soft axis
limiting and space limiting,
according to ISO 10218-1:2011,
5.12.3.
Will not allow
motion to exceed
any limit settings.
Speed could be
reduced so motion
will not exceed any
limit. A protective
stop will be
initiated to prevent
exceeding any
limit.
5° 1.20E-
07
Joint
(each)
UR5e 86 User Manual
16.Safety Functions Tables
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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