Universal Robots UR16e

Safety
Function
Description
Speed Limit
Limits maximum robot speed. The speed is limited at the elbow, at the
tool/end effector flange, and at the center of the user-defined tool/end
effector positions.
Force Limit
Limits maximum force exerted by the robot tool/end effector and elbow in
clamping situations. The force is limited at the tool/end effector, elbow
flange and center of the user-defined tool/end effector positions.
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
1
robot stop is
initiated.
Stopping
Distance
Limit
Limits maximum distance travelled by the robot after a robot 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 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
1
Robot stop was previously known as "Protective stop" for UniversalRobots robots.
User Manual 25 UR16e
2.Part I Hardware Installation Manual
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