Universal Robots E Series - Page 33

Safety
Function
Description
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.
When performing the application risk assessment, it is necessary to take into account the
motion of the robot after a stop has been initiated. In order to ease this process, the
safety functions Stopping Time Limit and Stopping Distance Limit can be used.
These safety functions dynamically reduces the speed of the robot motion such that it
can always be stopped within the limits. The joint position limits, the safety planes and
the tool/end effector orientation limits take the expected stopping distance travel into
account i.e. the robot motion will slow down before the limit is reached.
The functional safety can be summarized as:
Safety Function Tolerance Performance Level Category
Emergency Stop – d 3
Safeguard Stop – d 3
Joint Position Limit 5° d 3
Joint Speed Limit 1.15°/s d 3
Safety Planes 40mm d 3
Tool Orientation 3° d 3
Speed Limit 50mm/s d 3
Force Limit 25N d 3
Momentum Limit 3kg m/s d 3
Power Limit 10W d 3
Stopping Time Limit 50ms d 3
Stopping Distance Limit 40mm d 3
Safe Home 1.7° d 3
User Manual 19 UR5e
3.Safety-related Functions and Interfaces
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