Universal Robots E Series Original Instructions

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
UR5e 92 User Manual
16.Safety Functions Tables
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

Universal Robots E Series Specifications

General

Degrees of Freedom	6
IP Rating	IP54
Programming	Polyscope graphical user interface
Payload	3 kg, 5 kg, 10 kg, 12.5 kg, 16 kg (depending on model)
Reach	500 mm to 1300 mm
Joint Range	± 360º (all joints)
Operating Voltage	100-240 VAC, 50-60 Hz
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1, ISO/TS 15066
Repeatability	+/- 0.03 mm (UR3e, UR5e, UR10e, UR16e)