Universal Robots UR3e PolyScope X User Manual page 98

Safety
configuration
settings
Stopping
performance
risks
UR3e PolyScope X
Identifying the correct safety configuration settings is a particularly important part of
developing robot applications. Unauthorized access to the safety configuration must
be prevented by enabling and setting password protection.
WARNING
Failure to set password protection can result in injury or death due to
purposeful or inadvertent changes to configuration settings.
•
Always set password protection.
•
Set up a program for managing passwords, so that access is
only by persons who understand the effect of changes.
Some safety functions are purposely designed for collaborative robot applications.
These are configurable through the safety configuration settings. They are used to
address risks identified in the application risk assessment.
The following limit the robot and as such can affect the energy transfer to a person by
the robot arm, end effector and workpiece.
•
Force and power limiting: Used to reduce clamping forces and pressures
exerted by the robot in the direction of movement in case of collisions between
the robot and the operator.
•
Momentum limiting: Used to reduce high transient energy and impact forces in
case of collisions between robot and operator by reducing the speed of the
robot.
•
Speed limitation: Used to ensure the speed is less that the configured limit.
The following orientation settings are used to avoid movements and reduce exposure
of sharp edges and protrusions to a person.
•
Joint, elbow and tool/end effector position limiting: Used to reduce risks
associated with certain body parts: Avoid movement towards head and neck.
•
Tool/end effector orientation limiting: Used to reduce risks associated with
certain areas and features of the tool/end effector and work-piece: Avoid sharp
edges being pointed towards the operator, by turning the sharp edges inward
towards the robot.
Some safety functions are purposely designed for any robot application. These
features are configurable through the safety configuration settings. They are used to
address risks associated with the stopping performance of the robot application.
The following limit the robot stopping time and stopping distance to ensure stopping
will occur before reaching the configured limits. Both settings automatically affect the
speed of the robot to ensure the limit is not exceeded.
•
Stopping Time Limit: Used to limit the stopping time of the robot.
•
Stopping Distance Limit: Used to limit the stopping distance of the robot.
If either of the above is used, there is no need for manually performed periodic
stopping performance testing. The robot safety control does continuous monitoring.
98
14. Risk Assessment
User Manual