Universal Robots E Series Original Instructions Manual page 34

WARNING
There are two exceptions to the force limiting function that are important
when designing an application (Figure 4.1). As the robot stretches out, the
knee-joint effect can give high forces in the radial direction (away from
the base) at low speeds. Similarly, the short leverage arm, when the
tool/end effector is close to the base and moving around the base, can
cause high forces at low speeds. Pinching hazards can be avoided by
removing obstacles in these areas, placing the robot differently, or by
using a combination of safety planes and joint limits to eliminate 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 speed limit must be set to maximum 250 mm/s for the
tool/end effector and elbow unless a risk assessment shows that higher
speeds are acceptable. This will prevent fast movements of the robot
elbow near singularities.
4.1: Due to the physical properties of the robot arm, certain workspace areas require
attention regarding pinching hazards. One area (left) is defined for radial motions when
the wrist 1 joint is at least 750 mm from the base of the robot. The other area (right) is
within 200 mm of the base of the robot, when moving tangentially.
The robot also has the following safety inputs:
Safety Input Description
Performs a Stop Category 1 (IEC 60204-1) informing other machines
Emergency
using the System Emergency Stop output, if that output is defined. A stop
Stop Button
is initiated in anything connected to the output.
UR5e
3. Safety-related Functions and Interfaces
20 User Manual