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
User Manual 91 UR5e
16.Safety Functions Tables
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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