SF2
Safeguard
Stop 4
(Robot Stop
according to
ISO 10218-1)
Description
What
happens?
Tolerance
and PFH
D
Affects
This safety function is initiated by an external
protective device using safety inputs that initiate
a Cat 2 stop
3
. 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 Functions
4
. 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)
Description What happens?
Tolerance
and PFH
D
Affects
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)
SF4 Joint
Speed
Limit
Description What happens?
Tolerance
and PFH
D
Affects
Sets an upper limit for the joint speed. Each
joint can have its own limit. This safety
function has the most influence on energy
transfer upon contact (clamping or
transient). Directly limits the set of allowed
joint speeds which the joints are allowed to
perform. It is set in the safety setup part of
the User Interface. Used to limit fast joint
movements, e.g. risks related to
singularities.
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: 1.15 °/s
PFH
D
: 1.8E-
07
Joint
(each)
Joint
Torque
Limit
Exceeding the internal joint torque limit (each joint) results in a Cat 0
3
. This is not accessible
to the user; it is a factory setting. It is NOT shown as an e-Series safety function because
there are no user settings and no user configurations.
UR30 227 User Manual
22.Safety Functions Table
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