Universal Robots E Series Hardware Manual

Stop
Category
Description
0 Stop the robot by immediate removal of power.
1
Stop the robot in an orderly, controlled manner. Power is removed once the robot is
stopped.
2
*Stop the robot with power available to the drives, while maintaining the trajectory.
Drive power is maintained after the robot is stopped.
*Universal Robots robots’ Category 2 stops are further described as SS1 or as SS2 type stops
according to IEC 61800-5-2.
2.3. Configurable Safety Functions
Universal Robots robot safety functions, as listed in the table below, are in the robot but are meant
to control the robot system i.e. the robot with its attached tool/end effector. The robot safety
functions are used to reduce robot system risks determined by the risk assessment. Positions and
speeds are relative to the base of the robot.
Safety
Function
Description
Joint
Position
Limit
Sets upper and lower limits for the allowed joint positions.
Joint Speed
Limit
Sets an upper limit for joint speed.
Safety
Planes
Defines planes, in space, that limit robot position. Safety planes limit either the
tool/end effector alone or both the tool/end effector and the elbow.
Tool
Orientation
Defines allowable orientation limits for the tool.
Speed Limit
Limits maximum robot speed. The speed is limited at the elbow, at the tool/end
effector flange, and at the center of the user-defined tool/end effector positions.
Force Limit
Limits maximum force exerted by the robot tool/end effector and elbow in
clamping situations. The force is limited at the tool/end effector, elbow flange and
center of the user-defined tool/end effector positions.
Momentum
Limit
Limits maximum momentum of the robot.
Power Limit Limits mechanical work performed by the robot.
Stopping
Time Limit
Limits maximum time the robot uses for stopping after a protective stop is
initiated.
Stopping
Distance
Limit
Limits maximum distance travelled by the robot after a protective stop is initiated.
UR5e 16 Hardware Manual
2.Safety-related Functions and Interfaces
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Universal Robots E Series Specifications

General

Brand	Universal Robots
Model	E Series
Category	Robotics
Language	English