Universal Robots e Serie Manual De Usuario página 97

16. Tablas de funciones de seguridad
SF# and
Safety
Function
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
SF7
control their torque output to stay
Force Limit
within the allowed torque range.
(TCP)
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.
The momentum limit is very
SF8
useful for limiting transient
Momentum
impacts. The Momentum Limit
Limit
affects the entire robot.
This function monitors the
mechanical work (sum of joint
torques times joint angular
speeds) performed by the robot,
SF9
Power which also affects the current to
Limit the robot arm as well as the robot
speed. This safety function
dynamically limits the current/
torque but maintains the speed.
Manual de usuario
Description What happens?
Will not allow
motion to exceed
any limit settings.
Speed or torques
could be reduced
so motion will not
exceed any limit.
A protective stop
will be initiated to
prevent exceeding
any limit. Will not
allow motion to
exceed any limit
settings.
Dynamic limiting
of the
current/torque
85
Tole-
PFHd Affects
rance
1.50E-
25N TCP
07
3 kg 1.20E-
Robot
m/s 07
1.50E-
10 W Robot
07
UR10e