2.4 Safety Modes
Worst Case
Limiting Safety
Function
Trueness Detection
Time
De-energizing
Time
Reaction
Time
Joint position 1.15
◦
100 ms 1000 ms 1100 ms
Joint speed 1.15
◦
/s 250 ms 1000 ms 1250 ms
TCP position 20 mm 100 ms 1000 ms 1100 ms
TCP orientation 1.15
◦
100 ms 1000 ms 1100 ms
TCP speed 50
mm
/s 250 ms 1000 ms 1250 ms
TCP force 25 N 250 ms 1000 ms 1250 ms
Momentum 3
kg m
/s 250 ms 1000 ms 1250 ms
Power 10 W 250 ms 1000 ms 1250 ms
The system is considered de-energized when the 48 V bus voltage reaches an electri-
cal potential below 7.3 V. The de-energizing time is the time from a detection of an
event until the system has been de-energized.
WARNING:
There are two exceptions to the force limiting function that are
important to notice when designing the work cell for the robot.
These are illustrated in Figure 2.1. As the robot stretches out, the
knee-joint effect can give high forces in the radial direction (away
from the base), but at the same time, low speeds. Similarly, the
short leverage arm, when the tool is close to the base and mov-
ing tangential (around) the base, can cause high forces, but also
at low speeds. Pinching hazards can be avoided, for instance, by
removing obstacles in these areas, placing the robot differently, or
by using a combination of safety planes and joint limits to remove
the hazard by preventing the robot moving into this region of its
workspace.
WARNING:
If the robot is used in manual hand-guiding applications with lin-
ear movements, the joint speed limit must be set to maximum 40
degrees per second for the base and shoulder joints unless a risk
assessment shows that speeds above 40 degrees per second are ac-
ceptable. This will prevent fast movements of the robot elbow near
singularities.
2.4 Safety Modes
Normal and Reduced mode The safety system has two configurable safety modes:
Normal and Reduced. Safety limits can be configured for each of these two modes.
Reduced mode is active when the robot TCP is positioned beyond a Trigger Reduced
mode plane or when triggered by a safety input.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
I-13 UR5/CB3
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