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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
4.1. 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 moving 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 linear 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 acceptable. This will prevent fast movements of the
robot elbow near singularities.
4.1: Certain areas of the workspace should receive attention regarding pinching hazards, due
to the physical properties of the robot arm. One area is defined for radial motions, when the
wrist 1 joint is at a distance of at least 1300 mm from the base of the robot. The other area is
within 300 mm of the base of the robot, when moving in the tangential direction.
User Manual
15
UR10
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