Universal Robots PolyScope X UR16e User Manual page 106

Joint Torque Exceeding the internal joint torque limit (each joint) results in a Cat 0
Limit accessible to the user; it is a factory setting. It is NOT shown as an e-Series safety
function because there are no user settings and no user configurations.
SF5 Called
various names:
Pose Limit, Tool
Limit, Orientation
Limit, Safety
Planes, Safety
Boundaries
SF6 Speed Limit
TCP & Elbow
UR16e PolyScope X
Description
Monitors the TCP Pose (position and
orientation) and will prevent exceeding a
safety plane or TCP Pose Limit. Multiple
pose limits are possible (tool flange,
elbow, and up to 2 configurable tool
offset points with a radius) Orientation
restricted by the deviation from the
feature Z direction of the tool flange OR
the TCP. This safety function consists of
two parts. One is the safety planes for
limiting the possible TCP positions. The
second is the TCP orientation limit, which
is entered as an allowed direction and a
tolerance. This provides TCP and wrist
inclusion/ exclusion zones due to the
safety planes.
Description What happens?
Will not allow motion to exceed any limit
Monitors the
settings. Speed or torques could be
TCP and elbow
reduced so motion will not exceed any
speed to limit. A robot stop will be initiated to
prevent prevent exceeding any limit. Will not
exceeding a allow motion to exceed any limit
speed limit.
Part I Hardware Installation Manual
What
happens?
Will not allow
motion to
exceed any
limit settings.
Speed or
torques could
be reduced so
motion will not
exceed any
limit. A robot
stop will be
initiated to
prevent
exceeding any
limit. Will not
allow motion
to exceed any
limit settings.
settings.
106
3
. This is not
Tolerance
Affects
and PFH
D
Tol: 3° 40 TCP
Tool
mm
PFH : 1.8E-
flange
D
07 Elbow
Tolerance
Affects
and PFH
D
Tol:50 mm/s
PFH : 1.8E- TCP
D
07
User Manual