Universal Robots E Series - Page 109

# ISO 10218-1 Technique Explanation UR e-Series
4 Collaborative
Operation
2011 edition,
clause 5.10.5
Power and
force limiting
(PFL) by
inherent
design or
control
How to accomplish PFL is left to
the robot manufacturer. The robot
design and/or safety functions will
limit the energy transfer from the
robot to a person. If any parameter
limit is exceeded, a protective stop
happens. PFL applications require
considering the ROBOT
APPLICATION (including the end-
effector and workpiece(s), so that
any contact will not cause injury.
The study performed evaluated
pressures to the ONSET of pain,
not injury. See Annex A. See
ISO/TR 20218-1 End-effectors.
UR robots are power and
force limiting robots
specifically designed to
enable collaborative
applications where the
robot could contact a
person and cause no
injury. UR robots have
safety functions that can
be used to limit motion,
speed, momentum,
force, power and more of
the robot. These safety
functions are used in the
robot application to
thereby lessen pressures
and forces caused by the
end-effector and
workpiece(s).
User Manual 95 UR5e
16.Safety Functions Tables
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