Universal Robots UR30 - Page 236

Collaborative
Operation 2011
edition, clause
5.10.5
Technique Explanation UR e-Series
Power and
force limiting
(PFL) by
inherent
design or
control
How to accomplish PFL is left to the
robot manufacturer. The robot
design and/or safety functions will
limit the energy transfer from the
robot to a person. If any parameter
limit is exceeded, a robot stop
happens. PFL applications require
considering the ROBOT
APPLICATION (including the end-
effector and workpiece(s), so that
any contact will not cause injury. The
study performed evaluated
pressures to the ONSET of pain, not
injury. See Annex A. See ISO/TR
20218-1 End-effectors.
UR robots are power and force
limiting robots specifically
designed to enable
collaborative applications where
the robot could contact a person
and cause no injury. UR robots
have safety functions that can
be used to limit motion, speed,
momentum, force, power and
more of the robot. These safety
functions are used in the robot
application to thereby lessen
pressures and forces caused by
the end-effector and workpiece
(s).
UR30 237 User Manual
22.Safety Functions Table
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