Universal Robots UR16e PolyScope X User Manual page 96

NOTICE
•
The use and configuration of safety functions and interfaces must follow the risk
assessment procedures for each robot application.
•
The stopping time should be taken into account as part of the application risk
assessment
•
If the robot detects a fault or violation in the safety system (e.g. if one of the wires in
the Emergency Stop circuit is cut or a safety limit is exceeded), then a Stop Category
0 is initiated.
NOTICE
The end effector is not protected by the UR safety system. The functioning of the end effector
and/or connection cable is not monitored
9.2.1. Configurable Safety Functions
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
Description
Function
Joint Position
Sets upper and lower limits for the allowed joint positions.
Limit
Joint Speed
Sets an upper limit for joint speed.
Limit
Safety Defines planes, in space, that limit robot position. Safety planes limit either the tool/end
Planes effector alone or both the tool/end effector and the elbow.
Tool
Defines allowable orientation limits for the tool.
Orientation
Limits maximum robot speed. The speed is limited at the elbow, at the tool/end effector
Speed Limit
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
Force Limit situations. The force is limited at the tool/end effector, elbow flange and center of the user-
defined tool/end effector positions.
Momentum
Limits maximum momentum of the robot.
Limit
Power Limit Limits mechanical work performed by the robot.
Stopping
Limits maximum time the robot uses for stopping after a protective stop is initiated.
Time Limit
Stopping
Distance Limits maximum distance travelled by the robot after a protective stop is initiated.
Limit
UR16e PolyScope X 98
9. First Time Use
User Manual