Universal Robots E Series Original Instructions

Safety
Function
Description PFHd Affects
Mode
switch
INPUT
When the external connections are Low, Operation Mode
(running/ automatic operation in automatic mode) is in
effect. When High, mode is programming/ teach.
Recommendation: Use with a 3-position enabling device.
When in teach/program, initially the TCP speed will be limited
to 250mm/s. The speed can manually be increased by using
the pendant user interface “speed-slider”, but upon activation
of the enabling device, the speed limitation will reset to
250mm/s.
Input to
SF2 (See
SF2
safeguard
stop)
Robot
16.2. Table 2
UR e-Series robots comply with ISO 10218-1:2011 and the applicable portions of ISO/TS 15066. It
is important to note that most of ISO/TS 15066 is directed towards the integrator and not the robot
manufacturer. ISO 10218-1:2011, clause 5.10 collaborative operation details 4 collaborative
operation techniques as explained below. It is very important to understand that collaborative
operation is of the APPLICATION when in AUTOMATIC mode.
# ISO 10218-1 Technique Explanation UR e-Series
1 Collaborative
Operation
2011 edition,
clause 5.10.2
Safety-rated
monitored
stop
Stop condition where position is
held at a standstill and is
monitored as a safety function.
Category 2 stop is permitted to
auto reset. In the case of resetting
and restarting operation after a
safety -rated monitored stop, see
ISO 10218-2 and ISO/TS 15066 as
resumption shall not cause
hazardous conditions.
UR robots’ safeguard
stop is a safety-rated
monitored stop, See SF2
on page 1. It is likely, in
the future, that “safety-
rated monitored stop”
will not be called a form
of collaborative
operation.
2 Collaborative
Operation
2011 edition,
clause 5.10.3
Hand-guiding This is essentially individual and
direct personal control while the
robot is in automatic mode.
Hand guiding equipment shall be
located close to the end-effector
and shall have:
•
an Emergency Stop
pushbutton
•
a 3-position enabling device
•
a safety-rated monitored
stop function
•
a settable safety-rated
monitored speed function
UR robots do not provide
hand-guiding for
collaborative operation.
Hand-guided teach (free
drive) is provided with
UR robots but this is for
programming in manual
mode and not for
collaborative operation
in automatic mode.
User Manual 93 UR5e
16.Safety Functions Tables
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Universal Robots E Series Specifications

General

Brand	Universal Robots
Model	E Series
Category	Robotics
Language	English