Universal Robots UR16e

2.15.2. Table 1a
Safety
Function
Description PFH
D
Affects
Reduced
Mode SF
parameter
settings
change
Reduced Mode can be initiated by a safety plane/
boundary (starts at 2cm of the plane and reduced mode
settings are achieved within 2cm of the plane) or by use
of an input to initiate (will achieve reduced settings within
500ms). When the external connections are Low,
Reduced Mode is initiated. Reduced Mode means that
ALL reduced mode limits are ACTIVE.
Reduced mode is not a safety function, rather it is a state
change affecting the settings of the following safety
function limits: joint position, joint speed, TCP pose limit,
TCP speed, TCP force, momentum, power, stopping
time, and stopping distance. Reduced mode is a means
of parametrization of safety functions in accordance with
ISO 13849-1. All parameter values need to be verified
and validated as to whether they are appropriate for the
robot application.
Less
than
1.8E-07
Robot
Safeguard
Reset
When configured for Safeguard Reset and the external
connections transition from low to high, the safeguard
stop RESETS. Safety input to initiate a reset of safeguard
stop safety function.
Less
than
1.8E-07
Input to
SF2
Robot
3-Position
Enabling
Device INPUT
When the external Enabling Device connections are Low,
a Safeguard Stop (SF2) is initiated. Recommendation:
Use with a mode switch as a safety input. If a mode
switch is not used and connected to the safety inputs,
then the robot mode will be determined by the User
Interface. If the User Interface is in:
•
“running mode”, the enabling device will not be
active.
•
“programming mode”, the enabling device will be
active. It is possible to use password protection for
changing the mode by the User Interface.
Less
than
1.8E-07
Input to
SF2
Robot
UR16e 92 User Manual
2.Part I Hardware Installation Manual
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