SF7 Force Limit
(TCP)
Description
What
happens?
Tolerance
and PFH
D
Affects
The Force Limit is the force exerted by
the robot at the TCP (tool center point)
and “elbow”. The safety function
continuously calculates the torques
allowed for each joint to stay within the
defined force limit for both the TCP &
the elbow. The joints control their
torque output to stay within the allowed
torque range. This means that the
forces at the TCP or elbow will stay
within the defined force limit. When a
monitored stop is initiated by the Force
Limit SF, the robot will stop, then
“back-off” to a position where the force
limit was not exceeded. Then it will
stop again.
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: 25N
PFH
D
: 1.8E-
07
TCP
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
User Manual 103 UR10e
15.Safety Functions Table 1
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
To Next Page
Loading...
Need help?
General
