Universal Robots UR30 - Table

Mode
switch
INPUT
Description PFH
D
Affects
When the external connections are Low, Operation Mode (running/
automatic operation in automatic mode) is in effect. When High, mode
is programming/ teach. Recommendation: Use with an enabling
device, for example a UR e-Series Teach Pendant with an integrated
3-position enabling device.
When in teach/program, initially both TCP speed and elbow speed will
be limited to 250mm/s. The speed can manually be increased by using
the pendant user interface “speed-slider”, but upon activation of the
enabling device, the speed limitation will reset to 250mm/s.
Less
than
1.8E-
07
Input to
SF2
Robot
Freedrive
INPUT
Description PFH
D
Affects
Recommendation: Use with 3PE TP and/or 3 Position Enabling
Device INPUT. When Freedrive INPUT is High, the robot will only
enter Freedrive if the following conditions are satisfied:
•
3PE TP button is not pressed
•
3 Position Enabling Device INPUT either not configured or
not pressed (INPUT Low)
Less
than
1.8E-
07
Input to
SF2
Robot
22.2. Table 2
Description UR e-Series robots comply with ISO 10218-1:2011 and the applicable portions of ISO/TS
15066. It is important to note that most of ISO/TS 15066 is directed towards the integrator
and not the robot manufacturer. ISO 10218-1:2011, clause 5.10 collaborative operation
details 4 collaborative operation techniques as explained below. It is very important to
understand that collaborative operation is of the APPLICATION when in AUTOMATIC
mode.
Collaborative
Operation 2011
edition, clause
5.10.2
Technique Explanation UR e-Series
Safety-rated
monitored
stop
Stop condition where position is held at a
standstill and is monitored as a safety
function. Category 2 stop is permitted to
auto reset. In the case of resetting and
restarting operation after a safety -rated
monitored stop, see ISO 10218-2 and
ISO/TS 15066 as resumption shall not
cause hazardous conditions.
UR robots’ safeguard
stop is a safety-rated
monitored stop, See SF2
on page 1. It is likely, in
the future, that “safety-
rated monitored stop” will
not be called a form of
collaborative operation.
User Manual 234 UR30
22.Safety Functions Table
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