Universal Robots PolyScope X UR16e User Manual page 116

Collaborative
Operation 2011
edition, clause
5.10.5
UR16e PolyScope X
Technique
How to accomplish PFL is left to the
robot manufacturer. The robot
design and/or safety functions will
limit the energy transfer from the
robot to a person. If any parameter
Power and
limit is exceeded, a robot stop
force limiting
happens. PFL applications require
(PFL) by
considering the ROBOT
inherent
APPLICATION (including the end-
design or
effector and workpiece(s), so that
control
any contact will not cause injury.
The study performed evaluated
pressures to the ONSET of pain,
not injury. See Annex A. See
ISO/TR 20218-1 End-effectors.
Explanation
116
Part I Hardware Installation Manual
UR e-Series
UR robots are power and force
limiting robots specifically
designed to enable
collaborative applications
where the robot could contact a
person and cause no injury.
UR robots have safety
functions that can be used to
limit motion, speed,
momentum, force, power and
more of the robot. These safety
functions are used in the robot
application to thereby lessen
pressures and forces caused
by the end-effector and
workpiece(s).
User Manual