Safety Function Accuracy 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
Warnings
CAUTION
Failure to configure the maximum speed limit can result in hazardous
situations.
•
If the robot is used in manual hand-guiding applications with
linear movements, the speed limit must be set to maximum
250mm/s for the tool/end effector and elbow unless a risk
assessment shows that higher speeds are acceptable. This will
prevent fast movements of the robot elbow near singularities.
NOTICE
There are two exceptions to the force limiting function that are
important when designing an application. ()
As the robot stretches out, the knee-joint effect can give high forces in
the radial direction (away from the base) at low speeds. Similarly, the
short leverage arm, when the tool/end effector is close to the base and
moving around the base, can cause high forces at low speeds.
Pinching hazards can be avoided by removing obstacles in these
areas, placing the robot differently, or by using a combination of safety
planes and joint limits to eliminate the hazard by preventing the robot
moving into this region of its workspace.
User Manual 31 UR10e
2.Safety
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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