Universal Robots E Series Original Instructions Manual page 33

3. Safety-related Functions and Interfaces
Safety
Function
Momentum
Limit
Power Limit
Stopping
Time Limit
Stopping
Distance
Limit
When performing the application risk assessment, it is necessary to take into account the
motion of the robot after a stop has been initiated. In order to ease this process, the
safety functions Stopping Time Limit and Stopping Distance Limit can be used.
These safety functions dynamically reduces the speed of the robot motion such that it
can always be stopped within the limits. The joint position limits, the safety planes and
the tool/end effector orientation limits take the expected stopping distance travel into
account i.e. the robot motion will slow down before the limit is reached.
The functional safety can be summarized as:
Safety Function
Emergency Stop
Safeguard Stop
Joint Position Limit
Joint Speed Limit
Safety Planes
Tool Orientation
Speed Limit
Force Limit
Momentum Limit
Power Limit
Stopping Time Limit
Stopping Distance Limit
Safe Home
User Manual
Description
Limits maximum momentum of the robot.
Limits mechanical work performed by the robot.
Limits maximum time the robot uses for stopping after a protective stop
is initiated.
Limits maximum distance travelled by the robot after a protective stop is
initiated.
Tolerance
–
–
5 °
1.15 °/s
40 mm
3 °
50 mm/s
25 N
3 kg m/s
10 W
50 ms
40 mm
1.7 °
Performance Level
d
d
d
d
d
d
d
d
d
d
d
d
d
19
Category
3
3
3
3
3
3
3
3
3
3
3
3
3
UR5e