Tolerances; Safety Checksum - Universal Robots UR3/CB3 User Manual

2. Revert back to the previously applied safety configuration. This will disregard
If no errors exist and attempting to navigate away, a different dialog appears with the
following options:
1. Apply changes and restart the system. This will apply the safety configuration
2. Revert back to the previously applied safety configuration. This will disregard

10.4 Tolerances

In the Safety Configuration, physical limits are set. The input fields for these limits are
excluding the tolerances: where applicable tolerances are displayed next to the field.
The Safety System receives the values from the input fields, and detects any violation
of these values. The Robot Arm attempts to prevent any violations of the safety system
and gives a protective stop by stopping the program execution when the limit minus
the tolerance is reached. Note, that this means that a program might not be able to
perform motions very close to a limit, e.g. the robot may not be able to obtain the
exact maximum speed specified by a joint speed limit or the TCP speed limit.

10.5 Safety Checksum

The text in the top right corner of the screen gives a shorthand representation of the
safety configuration currently used by the robot. When the text changes, this indicates
that the current safety configuration has changed as well. Clicking on the checksum
displays the details about the currently active safety configuration.
CB3
all changes and allow you to continue to the desired destination.
modifications to the system and restart. Note: This does not imply that any
changes have been saved; shutdown of the robot at this point will lose all changes
to the robot installation including the Safety configuration.
all changes and allow you to continue to the desired selected destination.
WARNING:
A risk assessment is always required using the limit values without
tolerances.
WARNING:
Tolerances are specific to the version of the software. Updating the
software may change the tolerances. Consult the release notes for
changes between versions.
II-6
10.5 Safety Checksum
Version 3.3.3