Universal Robots e Serie Manual De Usuario página 103

17. Table 2
# ISO 10218-1
Collaborative
Operation
4
2011 edition,
clause 5.10.5
Manual de usuario
Technique
How to accomplish PFL is left to
the robot manufacturer. The robot
design and/or safety functions will
limit the energy transfer from the
Power and robot to a person. If any parameter
force limit is exceeded, a protective stop
limiting happens. PFL applications require
(PFL) by considering the ROBOT
inherent APPLICATION (including the end-
design or effector and workpiece(s), so that
control any contact will not cause injury.
The study performed evaluated
pressures to the ONSET of pain,
not injury. See Annex A. See
ISO/TR 20218-1 End-effectors.
Explanation
91
UR e-Series
UR robots are power and
force limiting robots
specifically designed to
enable collaborative
applications where the
robot could contact a
person and cause no
injury. UR robots have
safety functions that can
be used to limit motion,
speed, momentum, force,
power and more of the
robot. These safety
functions are used in the
robot application to
thereby lessen pressures
and forces caused by the
end-effector and
workpiece(s).
UR10e