Universal Robots UR12e User Manual page 128

*used
Safety Function
same as
Emergency Stop
UR10e (to
Safeguard Stop
verify)
Joint Position Limit
Joint Speed Limit
Safety Planes
Tool Orientation
Speed Limit
Force Limit
Momentum Limit
Power Limit
Stopping Time Limit
Stopping Distance Limit
Safe Home
Warnings
8.3.2. Safety Functions
UR12e
Accuracy
–
–
5 °
1.15 °/s
40 mm
3 °
50 mm/s
25 N
3 kg m/s
10 W
50 ms
40 mm
1.7 °
CAUTION
Failure to configure the maximum speed limit can result in hazardous
situations.
•
If the robot is used in manual hand-guiding applications with linear
movements, the speed limit must be set to maximum 250 mm/s for
the tool/end effector and elbow unless a risk assessment shows
that higher speeds are acceptable. This will prevent fast
movements of the robot elbow near singularities.
NOTICE
There are two exceptions to the force limiting function that are important
when designing an application.
As the robot stretches out, the knee-joint effect can give high forces in the
radial direction (away from the base) at low speeds. Similarly, the short
leverage arm, when the tool/end effector is close to the base and moving
around the base, can cause high forces at low speeds.
129
Performance Level
d
d
d
d
d
d
d
d
d
d
d
d
d
Category
3
3
3
3
3
3
3
3
3
3
3
3
3
User Manual