# Tech talk: Understanding protective stops **URL:** \ **Category:** UR News & Announcements\ **Created:** [October 13, 2023, 2:19pm UTC](https://forum.universal-robots.com/t/tech-talk-understanding-protective-stops/30913 "2023-10-13T14:19:03Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![mry](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mry/32/2980_2.png) [@mry](https://forum.universal-robots.com/u/mry)\ **Post date:** [October 13, 2023, 2:19pm UTC](https://forum.universal-robots.com/t/tech-talk-understanding-protective-stops/30913/1 "2023-10-13T14:19:03Z")
Hi Forum, As a new initiative, we are launching a series of online tech talks. Here we will dive into technical topics together with internal and external speakers. **Our first tech talk will be: Understanding protective stops** Read more about it here: [https://video.universal-robots.com/understanding-protective-stops](https://video.universal-robots.com/understanding-protective-stops) You are welcome share, like and subscribe 😉 If you have suggestions for inspiring topics, or maybe you even have the ideal speaker in mind, then let us know! M ---
**Author:** ![anon90920253](https://avatars.discourse-cdn.com/v4/letter/a/48db29/32.png) [@anon90920253](https://forum.universal-robots.com/u/anon90920253)\ **Post date:** [October 13, 2023, 3:56pm UTC](https://forum.universal-robots.com/t/tech-talk-understanding-protective-stops/30913/4 "2023-10-13T15:56:50Z")
Hello everyone, will this talk be recorded/made available online after the event? It’s great to see UR share expertise and beyond-user insights like this! Best, Michael Görner ---
**Author:** ![mry](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mry/32/2980_2.png) [@mry](https://forum.universal-robots.com/u/mry)\ **Post date:** [October 24, 2023, 7:14am UTC](https://forum.universal-robots.com/t/tech-talk-understanding-protective-stops/30913/5 "2023-10-24T07:14:52Z")
Remember this. 3PM CET. Click here when it is time: [https://video.universal-robots.com/understanding-protective-stops](https://video.universal-robots.com/understanding-protective-stops) ---
**Author:** ![miwa](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/miwa/32/2986_2.png) [@miwa](https://forum.universal-robots.com/u/miwa)\ **Post date:** [October 24, 2023, 2:00pm UTC](https://forum.universal-robots.com/t/tech-talk-understanding-protective-stops/30913/6 "2023-10-24T14:00:30Z")
Thanks for all the information presented today! There were a number of questions in the chat that came in alongside the questions from the “questions” button. If these can be answered, I’m sure those who asked them would really appreciate it. ##### ERIC B 03:13 PM Does the robot decelerate at the same rate for the protective stops, violations, and faults, e-stops? ##### HENRIQUE F 03:20 PM The joint configuration of the robot changes the mapping from forces at the end-effector to torques in joint space. Is that why the red margins in the plot are changing? I.e., the window is changing as the robot changes configuration? ##### TERRYC 03:23 PM Has self-scaling acceleration based on payload always been the case, or was this introduced around the time a lot of the protective stop literature and application notes released in the last few years? ##### OASIS 03:26 PM If I understand this correctly, in order for this to work, you need to have an accurate Payload. How can this be used for a robot picking items which leads to varying payload? ##### NICOLAS T 03:36 PM Is there any recommandation regarding the stiffness of the robot stand (such as a minimal natural frequency)? ##### BRENT B 03:41 PM Will the safety system automatically scale speed/accel when it senses a move is near a singularity to avoid protective stops? ---
**Author:** ![terryc](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/terryc/32/3006_2.png) [@terryc](https://forum.universal-robots.com/u/terryc)\ **Post date:** [October 25, 2023, 4:39pm UTC](https://forum.universal-robots.com/t/tech-talk-understanding-protective-stops/30913/7 "2023-10-25T16:39:53Z")
@mry is there a chance we could get a copy of the presentation? ---
**Author:** ![mry](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mry/32/2980_2.png) [@mry](https://forum.universal-robots.com/u/mry)\ **Post date:** [October 26, 2023, 8:11am UTC](https://forum.universal-robots.com/t/tech-talk-understanding-protective-stops/30913/8 "2023-10-26T08:11:48Z")
Terryc and MIWA: Oluf is on it. ---
**Author:** ![mry](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mry/32/2980_2.png) [@mry](https://forum.universal-robots.com/u/mry)\ **Post date:** [October 26, 2023, 11:39am UTC](https://forum.universal-robots.com/t/tech-talk-understanding-protective-stops/30913/9 "2023-10-26T11:39:31Z")
For those of you that missed the live event: > **[Understanding protective stops](https://video.universal-robots.com/secret/89950746/e3dbd47dc8d97c3a1a98fb68e3bf604b)** ---
**Author:** ![osn](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/osn/32/2558_2.png) [@osn](https://forum.universal-robots.com/u/osn)\ **Post date:** [October 26, 2023, 1:17pm UTC](https://forum.universal-robots.com/t/tech-talk-understanding-protective-stops/30913/10 "2023-10-26T13:17:07Z")
Thanks for the attendance and the engagement and questions. Here is the presentation, with a few slides added that should clarify some og your questions [Understanding Protective Stops.pdf](https://forum.universal-robots.com/uploads/short-url/wJvsSNMji7Lp6RS5EuXv0ssahoL.pdf) (1.7 MB)