Universal Robots UR30 - Page 208

Description The graphical data provided for Joint 0 (base), Joint 1 (shoulder) and Joint 2 (elbow) is
valid for stopping distance and stopping time:
•
Category 0
•
Category 1
•
Category 2
The Joint 0 test was carried out using a horizontal movement, where the rotational axis
was perpendicular to the ground. During the Joint 1 and Joint 2 tests, the robot followed
a vertical trajectory, where the rotational axes were parallel to the ground, and the stop
was done while the robot was moving downward.
The Y-axis is the distance from where the stop is initiated to the final position.
You can set safety rated maximum stopping time and distance. If the user-defined
settings are used, the program speed adjusts to comply with selected limits.
NOTICE
You can set user-defined safety rated maximum stopping times and
distances. If user-defined settings are used, the program speed is
dynamically adjusted to always comply with the selected limits.
Joint 0
(BASE)
Stopping
distance in
meters for
33% of 30kg
Stopping
distance in
meters for
66% of 30kg
Stopping
distance in
meters for
maximum
payload of
30kg
UR30 209 User Manual
17.Risk Assessment
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