15.1. Table 1a
Reduced Mode
SF parameter
settings change
Description PFH
D
Affects
Reduced Mode can be initiated by a safety plane/ boundary
(starts 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
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. Reduced mode is a means of parametrization of
safety functions in accordance with ISO 13849-1. All
parameter values need to be verified and validated as to
whether they are appropriate for the robot application.
Less
than
1.8E-
07
Robot
Safeguard Reset
Description PFH
D
Affects
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.
Less
than
1.8E-
07
Input to
SF2
Robot
3-Position Enabling
Device INPUT
Description PFH
D
Affects
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:
•
“running 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.
Less
than
1.8E-
07
Input to
SF2
Robot
UR10e 108 User Manual
15.Safety Functions Table 1
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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