A.1. CE certification of the Robot Installation
Frequency, fr
Daily 5
Weekly 4
Monthly 3
Annually 2
Less 1
Probability, pr
Common 5
Likely 4
Possible 3
Rare 2
Negligible 1
Avoidance, av
Impossible 5
Possible 3
Likely 1
Table A.1: The three factors that need to be evaluated for each possible acci-
dent in a given robot application.
A.1 CE certification of the Robot Installation
The robot is a CE certified machine
1
. In a given application, the robot is com-
bined with a tool. The combination of the robot and the tool is a new machine.
This new machine also has to be certified.
A.1.1 Safety Requirements
The UR-6-85-5-A is a small and light industrial robot, with advanced motor con-
trol and surveillance of the robot’s functions. Universal Robots has put much
effort into making the robot as safe as possible. In Europe, the standard ISO
10218-1:2006 describes the requirements for a robot to operate without safety
shielding. Most relevant here is §5.10.4, which states that the robot’s tool should
move at less than 250 mm/sec, that is 1 meter in 4 seconds. In addition, the max-
imum force exerted by the robot should be 150N, and the mechanical power
should be less than 80W. The robot software has been written such that if the
robot program moves the tool at less than 250mm/s, then these requirements
are fulfilled, allowing the robot to drive without safety shielding. However, it is
always important to be careful when around the robot.
A.1.2 Scoring the Risk
For each potential accident in a given robot installation, the risk index of the ac-
cident has to be evaluated. To help evaluate this, this manual provides a safety
evaluation form below. The form is based on the EN 14121-1 and -2 standards.
In a given robot installation, the risk assessment must be evaluated for each
of the potential accidents. The risk assessment requires the evaluation of the
Frequency, Probability and Avoidance for each of the potential accidents.
Frequency, fr
How often will there be a potential accident? For example, how often is a
person within reach of the robot?
Probability, pr
How probable is it that the presence of a human will result in a dangerous situa-
tion?
1
See section 4.2
78 UR-6-85-5-A
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