Universal Robots e Serie Manual De Usuario página 100

Safety
Function
Reduced Mode can be initiated by a safety plane/ boundary
(starts when 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).
Reduced When the external connections are Low, Reduced Mode is
Mode SF initiated. Reduced Mode means that ALL reduced mode limits
settings 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.
When configured for Safeguard Reset and the external
Safeguard connections transition from low to high, the safeguard stop
Reset RESETS. Safety input to initiate a reset of safeguard stop
safety function.
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
3 Position
and connected to the safety inputs, then the robot mode will
Enabling
be determined by the User Interface. If the User Interface is in
Device
• "run mode", the enabling device will not be active.
INPUT
• "programming mode", the enabling device will be active.
It is possible to use password protection for changing
the mode by the User Interface.
When the external connections are Low, Operation Mode
(running/ automatic operation in automatic mode) is in effect.
When High, mode is programming/ teach. Recommendation:
Mode
Use with a 3-position enabling device. When in teach/program,
switch
initially the TCP speed will be limited to 250mm/s. The speed
INPUT
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.
UR10e
Description
88
16. Tablas de funciones de seguridad
PFHd
PFHd is
either
1.20E-07
or 1.50E-
07
depending
on the
safety
function
Input to
SF2 (See
SF2)
Input to
SF2 (See
SF2
safeguard
stop)
Input to
SF2 (See
SF2
safeguard
stop)
Manual de usuario
Affects
Robot
Robot
Robot
Robot