Universal Robots UR16e

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Contents

1.Preface 10

1.1. What Do the Boxes Contain 10

1.2. Important Safety Notice 11

1.3. How to Read This Manual 11

1.4. Where to Find More Information 11

1.4.1. UR+ 11

1.4.2. myUR 12

1.4.3. UR Forums 12

2.Part I Hardware Installation Manual 13

2.1. Safety 13

2.1.1. Introduction 13

2.1.2. Validity and Responsibility 13

2.1.3. Limitation of Liability 14

2.1.4. Safety Message Types 14

2.1.5. General Warnings and Cautions 15

2.1.6. Intended Use 17

2.1.7. Risk Assessment 19

2.1.8. Pre-Use Assessment 21

2.1.9. Emergency Stop 21

2.1.10. Movement Without Drive Power 22

2.2. Safety-related Functions and Interfaces 23

2.2.1. Introduction 23

2.2.2. Stop Categories 24

2.2.3. Configurable Safety Functions 24

2.2.4. Safety Function 28

2.2.5. Safety Parameter Sets 28

2.2.6. Modes 29

2.3. Mechanical Interface 30

2.3.1. Workspace and Operating Space 30

2.3.2. Mounting Description 32

2.3.3. Securing the Robot Arm 33

2.3.4. Securing the Tool 34

2.3.5. Control Box Clearance 35

2.3.6. Maximum Payload 35

User Manual UR16e

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