Hello everyone, it's me again for another question.
So basically, when the arm of the UR10 hits something above a certain strength value, called "Limit", it has to run a Cat0 stop, according to this doc :
https://www.universal-robots.com/media/1800058/…ns-20170509.pdf
This doc enumerates the different safety functions of the UR10, the one I'm interested in is the SF8 "TCP force limit".
However, when the robot hits something, there are two kind of stop :
A stop where the operator just has to push, "Enable Robot" then press play to go on with the program.
But when it reaches high strenghts, there is another kind of stop, where the brakes turns on and the operator has to boot the robot again, just like he would start the robot.
So in my point of view, the first stop is a Cat2 stop and the second one a Cat0 stop.
I would just like to know if I'm right, because in both cases "Protective Stop" is mentioned, even though they are clearly different safety stops. Furthermore, in the ISO/TS 15066, "Protective Stop" is used to describe a Cat0 stop.
Could someone help me with this one ?
I look forward to learn about it !