1.14. Stopping Time and Stopping Distance
The information about stopping times and distances is available for both Stop Catagory 0 and
Stop Category
1
1. This appendix includes the information regarding Stop Category 0. Information
on Stop Category 1 is available on http://universal-robots.com/support/.
1.14.1. Stop Category 0 stopping distances and times
The table below includes the stopping distances and times measured when a Stop Category 0 is
triggered. These measurements correspond to the following configuration of the robot:
• Extension: 100% (the robot arm is fully extended horizontally).
• Speed: 100% (the general speed of the robot is set to 100% and the movement is
performed at a joint speed of 183°/s).
• Payload: maximum payload handled by the robot attached to the TCP ( 10 kg).
The test on the Joint 0 was carried out by performing a horizontal movement, i.e. the axis of
rotation was perpendicular to the ground. During the tests for Joint 1 and 2 the robot followed a
vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was
performed while the robot was moving downwards.
Stopping Distance (rad) Stopping time (ms)
Joint 0 (BASE) 0.98 750
Joint 1 (SHOULDER) 0.35 240
Joint 2 (ELBOW) 0.38 280
1. According to IEC60204-1, see Glossary for more details.↩
1.15. Declarations and Certificates
EU Declaration of Incoporation in accordance with ISO/IEC 17050-1:2010
Manufacturer Universal Robots A/S
Energivej 25
DK-5260 Odense S Denmark
Person in the Community
Authorized to Compile the
Technical File
David Brandt
Technology Officer, Research and Development
Universal Robots A/S
Energivej 25, DK-5260 Odense S
Description and Identification
of the Partially-Completed
Machine(s)
Product and Function
Industrial robot (multi-axis manipulator with Control Box and
Teach Pendant). Function is determined by the completed
machine (with end-effector and intended use).
User Manual 57 UR10
Copyright © 2009–2020 by UniversalRobotsA/S. All rights reserved.
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