Universal Robots UR30 PolyScope X User Manual page 27

2. Safety
2.10.2. Configurable Safety Functions
Description 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
Function
Joint Position
Limit
Joint Speed
Limit
Safety
Planes
Tool
Orientation
Speed Limit
Force Limit
Momentum
Limit
Power Limit
Stopping
Time Limit
Stopping
Distance
Limit
Safety When performing the application risk assessment, it is necessary to take into account the
Function 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:
1
Robot stop was previously known as "Protective stop".
User Manual
Description
Sets upper and lower limits for the allowed joint positions.
Sets an upper limit for joint speed.
Defines planes, in space, that limit robot position. Safety planes limit
either the tool/end effector alone or both the tool/end effector and the
elbow.
Defines allowable orientation limits for the tool.
Limits maximum robot speed. The speed is limited at the elbow, at 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 effector,
elbow flange and center of the user-defined tool/end effector positions.
Limits maximum momentum of the robot.
Limits mechanical work performed by the robot.
Limits maximum time the robot uses for stopping after a robot stop is
1
initiated.
Limits maximum distance travelled by the robot after a robot stop is
initiated.
27 UR30 PolyScope X