# ISO 10218-1 Technique Explanation UR e-Series
3 Collaborative
Operation
2011 edition,
clause 5.10.4
Speed and
separation
monitoring
(SSM) safety
functions
SSM is the robot maintaining a
separation distance from any
operator (human). This is done by
monitoring of the distance
between the robot system and
intrusions to ensure that the
MINIMUM PROTECTIVE
DISTANCE is assured. Usually, this
is accomplished using Sensitive
Protective Equipment (SPE),
where typically a safety laser
scanner detects intrusion(s)
towards the robot system.
This SPE causes:
1. dynamic changing of the
parameters for the limiting
safety functions; or
2. a safety-rated monitored
stop condition.
Upon detection of the intrusion
exiting the protective device’s
detection zone, the robot is
permitted to:
1. resume the “higher” normal
safety function limits in the
case of 1) above
2. resume operation in the
case of 2) above
In the case of 2) 2), restarting
operation after a safety -rated
monitored stop, see ISO 10218-2
and ISO/TS 15066 for
requirements.
To facilitate SSM, UR
robots have the
capability of switching
between two sets of
parameters for safety
functions with
configurable limits
(normal and reduced).
See Reduced Mode on
page 4. Normal
operation can be when
no intrusion is detected.
It can also be caused by
safety planes/ safety
boundaries. Multiple
safety zones can be
readily used with UR
robots. For example, one
safety zone can be used
for “reduced settings”
and another zone
boundary is used as a
safeguard stop input to
the UR robot. Reduced
limits can also include a
reduced setting for the
stop time and stop
distance limits – to
reduce the work area
and floorspace.
UR5e 94 User Manual
16.Safety Functions Tables
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