Universal Robots PolyScope X UR16e User Manual page 43

Part I Hardware Installation Manual
Dimensioning the
Stand
User Manual
Users have the option to incorporate added safety margins, factoring in the following
design considerations:
•
Static stiffness: A stand that is not sufficiently stiff will deflect during robot
motion, resulting in the robot arm not hitting the intended waypoint or path. Lack
of static stiffness can also result in a poor freedrive teaching experience or
protective stops.
•
Dynamic stiffness: If the eigenfrequency of the stand matches the movement
frequency of the robot arm, the entire system can resonate, creating the
impression that the robot arm is vibrating. Lack of dynamic stiffness can also
result in protective stops. The stand should have a minimum resonance
frequency of 45 Hz.
•
Fatigue: The stand shall be dimensioned to match the expected operating
lifetime and load cycles of the complete system.
CAUTION
•
If the robot is mounted on an external axis, the accelerations of
this axis must not be too high. You can let the robot software
compensate for the acceleration of external axes by using the
script command set_base_acceleration()
•
High accelerations might cause the robot to make safety stops.
WARNING
•
Potential for tip-over Hazards.
•
The robot arm's operational loads may cause movable
platforms, such as tables or mobile robots, to tip over, resulting
in possible accidents.
•
Prioritize safety by implementing adequate measures to
prevent the tipping of movable platforms at all times.
43 UR16e PolyScope X