Universal Robots UR30 - Page 228

SF8
Momentum
Limit
Description What happens?
Tolerance
and PFH
D
Affects
The momentum
limit is very useful
for limiting
transient impacts.
The Momentum
Limit affects the
entire robot.
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: 3kg m/s
PFH
D
: 1.8E-
07
Robot
SF9
Power
Limit
Description
What
happens?
Tolerance
and PFH
D
Affects
This function monitors the mechanical work
(sum of joint torques times joint angular
speeds) performed by the robot, which also
affects the current to the robot arm as well as
the robot speed. This safety function
dynamically limits the current/ torque but
maintains the speed.
Dynamic
limiting of the
current/torque
Tol: 10W
PFH
D
:1.8E-
07
Robot
SF10 UR
Robot
Estop
Output
Description
What
Happens
PFH
D
Affects
When configured for a Robot <Estop> output and
there is a robot stop, the dual outputs are LOW. If
there is no Robot <Estop> Stop initiated, dual
outputs are high. Pulses are not used but they are
tolerated.
These dual outputs change state for any external
Estop that is connected to configurable safety
inputs where this input is configured as an
Emergency Stop input.
For the integrated functional safety rating with an
external safety-related control system, add the
PFHD of this safety-related output to the PFHD of
the external safety-related control system.
For the Estop Output, validation is performed at
the external equipment, as the UR output is an
input to this external Estop safety function for
external equipment.
NOTE: If the IMMI (Injection Moulding Machine
Interface) is used, the UR Robot Estop output is
NOT connected to the IMMI. There is no Estop
output signal sent sent from the UR robot to the
IMMI.This is a feature to prevent an
unrecoverable stop condition.
Dual outputs
go low in event
of an Estop if
configurable
outputs are set
1.8E-
07
External
connection
to logic
and/or
equipment
UR30 229 User Manual
22.Safety Functions Table
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.