Universal Robots PolyScope X UR16e User Manual page 29

Part I Hardware Installation Manual
Configurable Safety Functions
Description
Safety Function
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Robot stop was previously known as "Protective stop".
User Manual
Universal Robots robot safety functions, as listed in the table below, are in the robot
but are meant to control the robot system i.e. the robot with its attached tool/end
effector. The robot safety functions are used to reduce robot system risks determined
by the risk assessment. Positions and speeds are relative to the base of the robot.
Safety
Description
Function
Joint Position
Sets upper and lower limits for the allowed joint positions.
Limit
Joint Speed
Sets an upper limit for joint speed.
Limit
Defines planes, in space, that limit robot position. Safety planes limit
Safety
either the tool/end effector alone or both the tool/end effector and
Planes
the elbow.
Tool
Defines allowable orientation limits for the tool.
Orientation
Limits maximum robot speed. The speed is limited at the elbow, at
Speed Limit the tool/end effector flange, and at the center of the user-defined
tool/end effector positions.
Limits maximum force exerted by the robot tool/end effector and
elbow in clamping situations. The force is limited at the tool/end
Force Limit
effector, elbow flange and center of the user-defined tool/end
effector positions.
Momentum
Limits maximum momentum of the robot.
Limit
Power Limit Limits mechanical work performed by the robot.
Stopping Limits maximum time the robot uses for stopping after a robot stop is
Time Limit initiated.
Stopping
Limits maximum distance travelled by the robot after a robot stop is
Distance
initiated.
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:
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29 UR16e PolyScope X