Universal Robots PolyScope X UR16e User Manual page 82

Declarations Although EU directives are relevant for Europe, some countries outside Europe
according to EU recognize and/or require EU declarations. European directives are available on the
directives official homepage: http://eur-lex.europa.eu.
According to the Machinery Directive, Universal Robots' robots are partly completed
machines, as such a CE mark is not to be affixed.
You can find the Declaration of Incorporation (DOI) according to the Machinery
Directive in the chapter: Declarations and Certificates.
1.9. Stopping Time and Stopping Distance
Description
Joint 0 (BASE)
Stopping distance
in meters for 33%
of 16kg
UR16e PolyScope X
NOTICE
You can set user-defined safety rated maximum
stopping time and distance.
If user-defined settings are used, the program
speed is dynamically adjusted to always comply
with the selected limits.
The graphical data provided for Joint 0 (base), Joint 1 (shoulder)
and Joint 2 (elbow) is valid for stopping distance and stopping
time:
• Category 0
• Category 1
• Category 2
The Joint 0 test was carried out using a horizontal movement,
where the rotational axis was perpendicular to the ground. For the
Joint 1 and Joint 2 tests, the robot followed a vertical trajectory,
where the rotational axes were parallel to the ground, and the stop
was done while the robot was moving downward.
The Y-axis is the distance from where the stop is initiated to the
final position.
The payload CoG is at the tool flange.
Part I Hardware Installation Manual
82 User Manual