Universal Robots UR e Series Hardware Manual

# ISO 10218-1 Technique Explanation UR e-Series
3 Collaborative
Operation 2011
edition, clause
5.10.4
Speed and
separation
monitoring
(SSM) safety
functions
SSM is the robot maintaining a
separation distance from any
operator (human). This is done
by monitoring of the distance
between the robot system and
intrusions to ensure that the
MINIMUM PROTECTIVE
DISTANCE is assured. Usually,
this is accomplished using
Sensitive Protective Equipment
(SPE), where typically a safety
laser scanner detects intrusion
(s) towards the robot system.
This SPE causes:
1. dynamic changing of the
parameters for the
limiting safety functions;
or
2. a safety-rated monitored
stop condition.
Upon detection of the intrusion
exiting the protective device’s
detection zone, the robot is
permitted to:
1. resume the “higher”
normal safety function
limits in the case of 1)
above
2. resume operation in the
case of 2) above
In the case of 2) 2), restarting
operation after a safety -rated
monitored stop, see ISO 10218-
2 and ISO/TS 15066 for
requirements.
To facilitate SSM, UR
robots have the
capability of switching
between two sets of
parameters for safety
functions with
configurable limits
(normal and reduced).
See Reduced Mode on
page 4. Normal
operation can be when
no intrusion is
detected. It can also be
caused by safety
planes/ safety
boundaries. Multiple
safety zones can be
readily used with UR
robots. For example,
one safety zone can be
used for “reduced
settings” and another
zone boundary is used
as a safeguard stop
input to the UR robot.
Reduced limits can also
include a reduced
setting for the stop time
and stop distance limits
– to reduce the work
area and floorspace.
UR5e 98 Hardware Manual
16.Table 2
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Universal Robots UR e Series Specifications

General

Brand	Universal Robots
Model	UR e Series
Category	Robotics
Language	English