99419_UR5e_User_Manual_zh_Global.pdf - 第100页
U R5e 8 6 用 户 手 册 1 7 . 安 全 功 能 表 版 权 所 有 © 2 009–2021U ni ver s al R obots A/S 。 保 留 所 有 权 利 。
# ISO 10218-1 Technique Explanation UR e-Series
4
Collaborative
Operation
2011 edition,
clause 5.10.5
Power and
force limiting
(PFL) by
inherent
design or
control
How to accomplish PFL is left to the
robot manufacturer. The robot design
and/or safety functions will limit the
energy transfer from the robot to a
person. If any parameter limit is
exceeded, a protective stop happens.
PFL applications require considering
the ROBOT APPLICATION
(including the end-effector and
workpiece(s), so that 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.
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).
用 户 手 册 85 UR5e
17.安 全功 能表
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UR5e 86 用 户 手 册
17.安 全功 能表
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第 II 部分
PolyScope 手册
用 户 手 册 87 UR5e
第 II 部 分 PolyScope 手 册
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