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Monitoring of safety inputs
Max joint
speed in
normal
mode
4.2: The green area below the ramp is the allowed speeds for a joint during braking. At time 0
an event (emergency stop or safeguard stop) is detected at the safety processor. Deceleration
Stop Category 1 and Stop Category 2 are monitored by the safety system in the following way:
1. The safety system monitors that the braking initiates within 24 ms, see Figure 4.2.
2. If a joint is moving, its speed is monitored to never be higher than the speed obtained by
constantly decelerating from the maximum joint speed limit for Normal mode to 0 rad/s in
500 ms.
3. If a joint is at rest (joint speed is less than 0.2 rad/s), it is monitored that it does not move
more than 0.05 rad from the position it had when the speed was measured below 0.2 rad/s.
Additionally, for a Stop Category 1, the safety system monitors that after the robot arm is at rest,
the powering off is finalized within 600 ms. Furthermore, after a Safeguard Stop input, the robot
arm is only allowed to start moving again after a positive edge on the safeguard reset input
occurs. If any of the above properties are not satisfied, the safety system issues a Stop Category
0.
A transition to Reduced mode triggered by the reduced mode input is monitored as follows:
1. The safety system accepts both Normal and Reduced mode limit sets for 500 ms after the
reduced mode input is triggered.
2. After 500 ms, only the Reduced mode limits are in effect.
If any of the above properties are not satisfied, the safety system issues a Stop Category 0.
A Stop Category 0 is performed by the safety system with the performance described in the
following table. The worst-case reaction time is the time to stop and to de-energize (discharge to
an electrical potential below 7.3 V) a robot running at full speed and payload.
Safety Input Function
Robot Emergency Stop
UR10
[rad/s]
0.024
begins after 24 ms.
Detection Time
250 ms
18
time
0.524
[s]
De-energizing Time
1000 ms
Reaction Time
1250 ms
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