Universal Robots UR16e

Safety Function Accuracy Performance Level Category
Stopping Time Limit 50ms d 3
Stopping Distance Limit 40mm d 3
Safe Home 1.7° d 3
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 (Figure 2.1 on the facing page). 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.
UR16e 26 User Manual
2.Part I Hardware Installation Manual
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