Universal Robots UR10/CB3 User Manual

Monitoring of safety inputs
Max joint
speed in
normal
mode
[rad/s]
[s]
time
0.5240.024
4.2:The green area below the ramp is the allowed speeds for a joint during braking. At time 0
an event (emergency stop or safeguard stop) is detected at the safety processor. Deceleration
begins after 24ms.
Stop Category 1 and Stop Category 2 are monitored by the safety system in the following way:
1. The safety system monitors that the braking initiates within 24ms, see Figure4.2.
2. If a joint is moving, its speed is monitored to never be higher than the speed obtained by
constantly decelerating from the maximum joint speed limit for Normal mode to 0rad/s in
500ms.
3. If a joint is at rest (joint speed is less than 0.2rad/s), it is monitored that it does not move
more than 0.05rad from the position it had when the speed was measured below 0.2rad/s.
Additionally, for a Stop Category 1, the safety system monitors that after the robot arm is at rest,
the powering off is finalized within 600ms. Furthermore, after a Safeguard Stop input, the robot
arm is only allowed to start moving again after a positive edge on the safeguard reset input
occurs. If any of the above properties are not satisfied, the safety system issues a Stop Category
0.
A transition to Reduced mode triggered by the reduced mode input is monitored as follows:
1. The safety system accepts both Normal and Reduced mode limit sets for 500ms after the
reduced mode input is triggered.
2. After 500ms, only the Reduced mode limits are in effect.
If any of the above properties are not satisfied, the safety system issues a Stop Category 0.
A Stop Category 0 is performed by the safety system with the performance described in the
following table. The worst-case reaction time is the time to stop and to de-energize (discharge to
an electrical potential below 7.3V) a robot running at full speed and payload.
Safety Input Function Detection Time De-energizing Time Reaction Time
Robot Emergency Stop 250ms 1000ms 1250ms
UR10 18 User Manual
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Universal Robots UR10/CB3 Specifications

General

Brand	Universal Robots
Model	UR10/CB3
Category	Robotics
Language	English