SF# and
Safety
Function
Description What happens? Tole-
rance
PFHd Affects
SF5
Called
various
names:
Pose Limit,
Tool Limit,
Orientation
Limit, Safety
Planes,
Safety
Boundaries
Monitors the TCP Pose (position
and orientation) and will prevent
exceeding a safety plane or TCP
Pose Limit. Multiple pose limits
are possible (tool flange, elbow,
and up to 2 configurable tool
offset points with a radius)
Orientation restricted by the
deviation from the feature Z
direction of the tool flange OR
the TCP. This safety function
consists of two parts. One is the
safety planes for limiting the
possible TCP positions. The
second is the TCP orientation
limit, which is entered as an
allowed direction and a
tolerance. This provides TCP and
wrist inclusion/ exclusion zones
due to the safety planes.
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.
3 °
40 mm
1.20E-
07
TCP
Tool
flange
Elbow
SF6
Speed Limit
TCP &
Elbow
Monitors the TCP and elbow
speed to prevent exceeding a
speed limit.
50
mm/s
1.20E-
07
TCP
UR5e 88 User Manual
16.Safety Functions Tables
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
To Next Page
Loading...
Need help?
General
