22.1. Table 1a
Reduced
Mode SF
parameter
settings
change
Description PFH
D
Affects
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
Description PFH
D
Affects
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
Description PFH
D
Affects
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
UR30 233 User Manual
22.Safety Functions Table
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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