Table 1a

Reduced SF parameter settings change
Description Affects

The reduced configuration can be initiated by a safety plane/ boundary (starts at 2cm of the plane and reduced 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 is initiated. Reduced configuration means that ALL reduced limits are ACTIVE.

Reduced 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. A reduced configuration 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.

Robot

Safeguard Reset
Description 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.

Robot

3-Position Enabling Device INPUT

Description 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.

Robot

Mode switch INPUT
Description Affects

When the external connections are Low, Operation Mode (running/ automatic operation in automatic mode) is in effect. When High, mode is programming/ teach. Recommendation: Use with an enabling device, for example a UR e-Series Teach Pendant with an integrated 3-position enabling device.

When in teach/program, initially both TCP speed and elbow 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.

Robot

Freedrive INPUT
Description Affects

Recommendation: Use with 3PE TP and/or 3 Position Enabling Device INPUT. When Freedrive INPUT is High, the robot will only enter Freedrive if the following conditions are satisfied:

  • 3PE TP button is not pressed
  • 3 Position Enabling Device INPUT either not configured or not pressed (INPUT Low)

Robot