Universal Robots UR16e

SF# and
Safety
Function
Description What happens?
Tolerance
and PFH
D
Affects
SF5
Called
various
names: Pose
Limit, Tool
Limit,
Orientation
Limit, Safety
Planes,
Safety
Boundaries
Monitors the TCP Pose
(position and orientation)
and will prevent exceeding a
safety plane or TCP Pose
Limit. Multiple pose limits are
possible (tool flange, elbow,
and up to 2 configurable tool
offset points with a radius)
Orientation restricted by the
deviation from the feature Z
direction of the tool flange
OR the TCP. This safety
function consists of two
parts. One is the safety
planes for limiting the
possible TCP positions. The
second is the TCP
orientation limit, which is
entered as an allowed
direction and a tolerance.
This provides TCP and wrist
inclusion/ exclusion zones
due to the safety planes.
Will not allow motion
to exceed any limit
settings. Speed or
torques could be
reduced so motion
will not exceed any
limit. A robot stop
will be initiated to
prevent exceeding
any limit. Will not
allow motion to
exceed any limit
settings.
Tol: 3° 40 mm
PFH
D
: 1.8E-
07
TCP
Tool flange
Elbow
SF6
Speed Limit
TCP & Elbow
Monitors the TCP and elbow
speed to prevent exceeding
a speed limit.
Tol:50 mm/s
PFH
D
: 1.8E-
07
TCP
User Manual 85 UR16e
2.Part I Hardware Installation Manual
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