SF# and
Safety
Function
Description What happens?
Tolerances
and PFH
D
:
Affects
SF15
Stopping
Time Limit
Real time monitoring of
conditions such that the
stopping time limit will not be
exceeded. Robot speed is
limited to ensure that the
stop time limit is not
exceeded.
The stopping capability of the
robot in the given motion(s)
is continuously monitored to
prevent motions that would
exceed the stopping limit. If
the time needed to stop the
robot is at risk of exceeding
the time limit, the speed of
motion is reduced to ensure
the limit is not exceeded. A
robot stop will be initiated to
prevent exceeding the limit.
The safety function performs
the same calculation of the
stopping time for the given
motion(s) and initiates a cat 0
stop if the stopping time limit
will be or is exceeded.
Will not allow the
actual stopping
time to exceed the
limit setting.
Causes decrease
in speed or a
robot stop so as
NOT to exceed
the limit
TOL: 50 ms
PFH
D
:1.8E-07
Robot
User Manual 89 UR16e
2.Part I Hardware Installation Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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