Universal Robots UR10/CB3, Руководство пользователя

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1.6. Safety-related Functions and Interfaces
1.6.1. Introduction
UR robots are equipped with a range of built-in safety-related functions as well as safety-related
electrical interfaces to connect to other machines and additional protective devices. Each safety
function and interface is monitored according to EN ISO13849-1:2008 (see Chapter for
certifications) with Performance Level d (PLd).
WARNING
Use of safety configuration parameters different from those defined by the risk
assessment conducted by the integrator can result in hazards that are not
reasonably eliminated or risks that are not sufficiently reduced.
See chapter 1.20. Safety Configuration on page 87 in part Part II PolyScope Manual on page 85
for configuration of the safety-related features, inputs, and outputs in the user interface. See
chapter
1.9. Electrical Interface on page 29 for descriptions on how to connect safety devices to
the electrical interface.
NOTE
1. Use and configuration of safety-related functions and interfaces must be
done according to the risk assessment that the integrator conducts for a
specific robot application, see section
1.5.7. Risk Assessment on page 10
in chapter 1.5. Safety on page 5 .
2. If the robot discovers a fault or violation in the safety system, e.g. one of
the wires in the emergency stop circuit is cut, a position sensor is broken,
or a limit of a safety-related function has been violated, a Stop Category 0
is initiated. The worst case time from an error occurs to the robot is
stopped is listed at the end of this chapter. This time should be taken into
account as part of the risk assessment conducted by the integrator.
The robot has a number of safety-related functions that can be used to limit the movement of its
joints and of the robot
Tool Center Point (TCP). The TCP is the center point of the output flange
with the addition of the TCP offset.
The limiting safety-related functions are:
Limiting Safety Function Description
Joint position Min. and max. angular joint position
Joint speed Max. angular joint speed
TCP position Planes in Cartesian space limiting robot TCP position
TCP speed Max. speed of the robot TCP
User Manual 13 UR10
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