Universal Robots UR16e

SF# and
Safety
Function
Description What happens?
Tolerance
and PFH
D
Affects
SF2
Safeguard
Stop4 (Robot
stop
5
according to
ISO 10218-1)
This safety function is
initiated by an external
protective device using
safety inputs that initiate a
Cat 2 stop3. The tool I/O are
unaffected by the safeguard
stop. Various configurations
are provided. If an enabling
device is connected, it's
possible to configure the
safeguard stop to function in
automatic mode ONLY. See
the Stop Time and Stop
Distance Safety Functions4 .
For the functional safety of
the complete integrated
safety function, add the
PFHd of the external
protective device to the
PFHd of the Safeguard Stop.
Category 2 stop (IEC
60204-1) SS2 stop
(as described in IEC
61800-5-2)
Tol: --
PFH
D
: 1.8E-
07
Robot
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
robot stop will be
initiated to prevent
exceeding any limit.
Tol: 5°
PFH
D
: 1.8E-
07
Joint
(each)
User Manual 83 UR16e
2.Part I Hardware Installation Manual
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