Universal Robots UR5e - Robot Scenario 2: 12.5 Kg

SF# and
Safety
Function
Description What happens?
Tolerance
and PFH
D
Affects
SF4
Joint Speed
Limit
Sets an upper limit for the
joint speed. Each joint can
have its own limit. This
safety function has the most
influence on energy transfer
upon contact (clamping or
transient). Directly limits the
set of allowed joint speeds
which the joints are allowed
to perform. It is set in the
safety setup part of the User
Interface. Used to limit fast
joint movements, e.g. risks
related to singularities.
Will not allow motion
to exceed any limit
settings. Speed
could be reduced so
motion will not
exceed any limit. A
robot stop will be
initiated to prevent
exceeding any limit.
Tol: 1.15 °/s
PFH
D
: 1.8E-
07
Joint
(each)
Joint Torque
Limit
Exceeding the internal joint torque limit (each joint) results in a Cat 0
3
. This is not
accessible to the user; it is a factory setting. It is NOT shown as an e-Series safety
function because there are no user settings and no user configurations.
UR5e User Manual
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