2.3 Limiting Safety-related Functions
Limiting Safety
Function
Description
Joint position Min. and max. angular joint position
Joint speed Max. angular joint speed
TCP position Planes in Cartesian space limiting robot TCP position
TCP speed Max. speed of the robot TCP
TCP force Max. pushing force of the robot TCP
Momentum Max. momentum of the robot arm
Power Max. applied robot arm power
2.2 Stopping times of the Safety System
The stopping time of the safety system is the time from a fault or violation of a
safety-related function occurs to the robot is brought to a complete stop and the
mechanical brakes are engaged.
The maximum stopping times in the table must be considered if the safety of the
application relies upon the stopping time of the robot. E.g. if a fault in the robot
results in a stop of a complete factory line, where certain actions must take place
immediately after the stop, the maximum stopping times must be considered.
The measurements are conducted with the following configuration of the robot:
• Extension: 100% (the robot arm is fully extended horizontally).
• Speed: The TCP speed limit of the safety system is set to the described limit.
• Payload: maximum payload handled by the robot attached to the TCP (5 kg).
The worst case stopping time for Stop Category
1
0 in case of a violation of the safety
limits or interfaces can be seen in the following table.
TCP Speed Limit Maximum Stopping Time
1.0
m
/s 450 ms
1.5
m
/s 500 ms
2.0
m
/s 550 ms
1.5
m
/s 600 ms
3.0
m
/s 650 ms
2.3 Limiting Safety-related Functions
Advanced path control software decreases speed or issues a program execution
stop if the robot arm approaches a safety-related limit. Violations of limits will
hence only occur in exceptional cases. Nevertheless, if a limit is violated, the safety
system issues a Stop Category 0.
1
Stop Categories are according to IEC 60204-1, see Glossary for more details.
UR5/CB3 I-12 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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