Universal Robots UR e Series Hardware Manual

Universal Robots identifies the potential significant hazards listed below as hazards that
must be considered by the integrator. Other significant hazards can be present in a
specific robot installation.
1. Penetration of skin by sharp edges and sharp points on tool/end effector or
tool/end effector connector.
2. Penetration of skin by sharp edges and sharp points on obstacles near the robot
track.
3. Bruising due to contact with the robot.
4. Sprain or bone fracture due to strokes between a heavy payload and a hard surface.
5. Consequences due to loose bolts that hold the robot arm or tool/end effector.
6. Items falling out of tool/end effector, e.g. due to a poor grip or power interruption.
7. Mistakes due to different emergency stop buttons for different machines.
8. Mistakes due to unauthorized changes to the safety configuration parameters.
Information on stopping times and stopping distances are found in chapter2.Safety-
related Functions and Interfaceson page15 and appendix9.Stopping Time and Stopping
Distanceon page65.
Pre-Use Assessment
The following tests must be conducted before using the robot for the first time or after
any modifications are made. Verify that all safety input and output are appropriately and
correctly connected. Test that all connected safety input and output, including devices
common to multiple machines or robots, are functioning. As such you must:
•
Test that emergency stop buttons and input stop the robot and engage brakes.
•
Test that safeguard input stop the robot motion. If safeguard reset is configured,
check that it needs to be activated before motion can be resumed.
•
Examine the initialization screen to test that reduced mode can switch the safety
mode to reduced mode.
•
Test that the operational mode switches the operational mode, see icon in top right
corner of user interface.
•
Test that the 3-position enabling device must be pressed to enable motion in
manual mode and that the robot is under reduced speed control.
•
Test that System Emergency Stop outputs are actually capable of bringing the
whole system to a safe state.
•
Test that the system connected to Robot Moving output, Robot Not Stopping
output, Reduced Mode output, or Not Reduced Mode output can actually detect the
output changes
Emergency Stop
UR5e 12 Hardware Manual
1.Safety
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Universal Robots UR e Series Specifications

General

Brand	Universal Robots
Model	UR e Series
Category	Robotics
Language	English