Configurable Safety Functions - Universal Robots E Series Original Instructions Manual

Depending on the circumstances, the robot can initiate three types of stop categories
defined according to IEC 60204-1. These categories are defined in the following table.
Stop
Description
Category
0 Stop the robot by immediate removal of power.
Stop the robot in an orderly, controlled manner. Power is removed once the
1
robot is stopped.
*Stop the robot with power available to the drives, while maintaining the
2
trajectory. Drive power is maintained after the robot is stopped.
*Universal Robots robots' Category 2 stops are further described as SS1 or as SS2 type
stops according to IEC 61800-5-2.

3.3. Configurable Safety Functions

Universal Robots robot safety functions, as listed in the table below, are in the robot but
are meant to control the robot system i.e. the robot with its attached tool/end effector.
The robot safety functions are used to reduce robot system risks determined by the risk
assessment. Positions and speeds are relative to the base of the robot.
Safety
Description
Function
Joint
Position Sets upper and lower limits for the allowed joint positions.
Limit
Joint Speed
Sets an upper limit for joint speed.
Limit
Defines planes, in space, that limit robot position. Safety planes limit
Safety
either the tool/end effector alone or both the tool/end effector and the
Planes
elbow.
Tool
Defines allowable orientation limits for the tool.
Orientation
Limits maximum robot speed. The speed is limited at the elbow, at the
Speed Limit tool/end effector flange, and at the center of the user-defined tool/end
effector positions.
Limits maximum force exerted by the robot tool/end effector and elbow
Force Limit in clamping situations. The force is limited at the tool/end effector,
elbow flange and center of the user-defined tool/end effector positions.
UR5e
3. Safety-related Functions and Interfaces
18 User Manual