AX10 Palletizing Solution
The following table indicates which stop category corresponds to each operation mode.
Operation mode
Robot Linear Axis
Force (N) Power (W)
Speed
(mm/s)
Force (N) Power (W)
Speed
(mm/s)
Normal mode
(Up to safety limits)
Up to 250 Up to 1,000
Up to
5,000
2400*
690
(nominal)
500
Protective stop Category 2 Stop
Safeguard stop Category 2 Stop Category 1 Stop
Emergency stop Category 1 Stop
Reduced mode
Please refer to the Universal Robots user manual
for more details.
The linear axis exhibits the same behavior in
Reduced mode and Normal mode. It is not
recommended to use Reduced mode since
the linear axis is not safety rated for
collaborative applications.
*Calculated using the following assumptions: static force at peak current with a 90% efficient ball screw and no friction.
Fig. 2-2: Safety Logic Diagram
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