SF# and
Safety
Function
Description What happens?
Tolerances
and PFH
D
:
Affects
SF16
Stopping
Distance
Limit
Real time monitoring of
conditions such that the
stopping distance limit will
not be exceeded. Robot
speed is limited to ensure
that the stop distance limit
will not be 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 distance for the
given motion(s) and initiates
a cat 0 stop if 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: 40 mm
PFH
D
:1.8E-07
Robot
SF17
Safe Home
Position
"monitored
position"
Safety function which
monitors a safety rated
output, such that it ensures
that the output can only be
activated when the robot is in
the configured and monitored
“safe home position”.
A stop cat 0 is initiated if the
output is activated when the
robot is not in the configured
position.
The “safe home
output” can only
be activated when
the robot is in the
configured “safe
home position”
TOL:1.7 °
PFH
D
:1.8E-07
External
connection
to logic
and/or
equipment
Table 1 footnotes
1
Communications between the Teach Pendant, controller and within the robot (between joints) are
SIL 2 for safety data, per IEC 61784-3.
UR16e 90 User Manual
2.Part I Hardware Installation Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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