Universal Robots UR10e PolyScope X User Manual page 130

16.1. Pinch Hazard
Description You can avoid pinching hazards by removing obstacles in these areas, by placing the
robot differently, or by using a combination of safety planes and joint limits to eliminate the
hazards by preventing the robot moving into this area of its workspace.
Due to the physical properties of the robot arm, certain workspace areas require attention
regarding pinching hazards. One area (left) is defined for radial motions when the wrist 1
UR10e PolyScope X
CAUTION
Placing the robot in certain areas can create pinching hazards that can
lead to injury.
joint is at least 1300 mm from the base of the robot. The other area (right) is within
300 mm of the base of the robot, when moving tangentially.
132
16. Risk Assessment
User Manual