SF# and
Safety
Function
Description What happens?
Tole-
rance
PFHd Affects
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)
SF4
Joint Speed
Limit
Sets an upper limit for the
joint speed. Each joint can
have its own limit. This
safety function has the
most influence on energy
transfer upon contact
(clamping or transient).
Directly limits the set of
allowed joint speeds which
the joints are allowed to
perform. It is set in the
safety setup part of the
User Interface. Used to
limit fast joint movements,
e.g. risks related to
singularities.
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.
1.15 °/s 1.20E-
07
Joint
(each)
UR5e 90 Hardware Manual
15.Safety Functions Tables
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.
To Next Page
Loading...
Need help?
General
