Universal Robots UR3 Manual De Usuario página 91

TUV
NORD Safety
Certified
Function
SF
Internal
Logic and
Robot Outputs,
Reduced with Dual
Mode Inputs (1
through
4)
Internal
Logic and
Outputs,
Safeguard
with Dual
Reset
Inputs (1
through
4)
External
Enabling
Enabling Device as
Device input to
UR Robot
logic
External
Mode
Switch
using
Mode dual
Selection Inputs (1
through
4) and
internal
logic
Manual de usuario
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). 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 affecting the settings of the
following safety function limits: SF3 joint position, SF4
joint speed, SF6 TCP pose limit, SF7 TCP speed, SF8 TCP
force, SF9 momentum, and SF10 power.
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 SF2.
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:
• "run 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.
When the external connections are Low, Operation Mode
(running) is in effect. When High, the mode is programming
or teach. Must be used with an Enabling Device as a safety
input. When in Teach/Program (Mode switch inputs high),
enabling device is required for operation. When in
teach/program, initially the TCP 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.
Description
83
What is
controlled?
Robot Arm
Robot
Robot
Robot
UR3