Universal Robots UR16e PolyScope X User Manual page 132

16.2. Stopping Time and Stopping Distance
Description
The graphical data provided for Joint 0 (base), Joint 1 (shoulder) and Joint 2 (elbow) is
valid for stopping distance and stopping time:
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.
Joint 0
(BASE)
Stopping
distance in
meters for
33% of 16kg
Stopping
distance in
meters for
66% 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.
• Category 0
• Category 1
• Category 2
134
16. Risk Assessment
User Manual