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PFL calculator — transient contact

Maximum permissible cobot contact velocity per ISO 10218-2:2025 (Annex A).

Robot & load
kg

Total mass of the robot’s moving parts (ISO A.4: mR = M/2 + mL). Verify with manufacturer data.

kg

Mass of the end-of-arm tooling.

kg

0 is allowed (empty gripper).

Effective payload mL0.0 kg
Effective robot mass mR0.0 kg
Contact
Tool contact type
cm²

The smaller of tool vs. body-part area (A.3.5). k is calibrated for ≈1 cm²; larger A is non-conservative.

×

Table A.2 note c: at least 2× quasi-static. Clamped to 1–2 here.

Body regions

Maximum contact velocity

—,— m/s

Enter inputs to calculate.

Per-region permissible velocity

Back / shoulders
∞ F
Chest / sternum
∞ F
Abdomen
∞ F
Pelvis
∞ F
Upper arm / elbow
∞ F
Forearm / wrist
∞ F
Hand / fingers
∞ F
Results by body region — ISO 10218-2:2025 Annex A
Regionμ (kg)F_T (N)v_F (m/s)v_P (m/s)v = mingoverning
Back / shoulders0.00420∞∞∞← governs
Chest / sternum0.00280∞∞∞force
Abdomen0.00220∞∞∞force
Pelvis0.00360∞∞∞force
Upper arm / elbow0.00300∞∞∞force
Forearm / wrist0.00320∞∞∞force
Hand / fingers0.00280∞∞∞force
▸Calculation trace — Back / shoulders
mL = part + gripper        = 0.0 + 0.0 = 0.0 kg            [A.4]
mR = M/2 + mL              = 0.0/2 + 0.0 = 0.0 kg     [A.4]
μ  = (mH·mR)/(mH+mR)       = (40.0·0.0)/(40.0+0.0) = 0.00 kg   [A.3]
F_T = factor · F_QS        = 2 · 210 = 420 N         [A.2]
v_F = F_T / √(μ·k·1000)    = 420 / √(0.00·35·1000) = ∞ m/s  [A.5]
v_P = p_T·A / √(μ·k·1000)  = 320·1.0 / … = ∞ m/s          [A.6]
v   = min(v_F, v_P)        = ∞ m/s ← governs
▸Method & assumptions

This result is a design-phase engineering estimate, not a certification. Final validation requires physical force/pressure measurement with a PFMD per ISO/PAS 5672:2023. It is one input to an ISO 12100 risk assessment, not a substitute for it. Results depend on correct inputs (M = total moving mass, A = the smaller contact area). Pressure limits are pain-onset values; force limits correspond to minor injury (AIS ≤ 1). The integrator remains responsible for the risk assessment and safety-parameter configuration.

Method & standards →

Energy check: E = NaN J ≤ 2.50 J (Table A.4) ⚠

Calculated per ISO 10218-2:2025 (Annex A method; formerly ISO/TS 15066:2016, Tables A.2/A.3).

Disclaimer

This result is a design-phase engineering estimate, not a certification. Final validation requires physical force/pressure measurement with a PFMD per ISO/PAS 5672:2023. It is one input to an ISO 12100 risk assessment, not a substitute for it. Results depend on correct inputs (M = total moving mass, A = the smaller contact area). Pressure limits are pain-onset values; force limits correspond to minor injury (AIS ≤ 1). The integrator remains responsible for the risk assessment and safety-parameter configuration.