Universal Robots UR16e

2.2. Safety-related Functions and Interfaces
2.2.1. Introduction
Universal Robots e-Series robots are equipped with a range of built-in safety functions as well as
safety I/O, digital and analog control signals to or from the electrical interface, to connect to other
machines and additional protective devices. Each safety function and I/O is constructed according to
EN ISO13849-1 (see chapter2.8. Certificationson page63 for certifications) with Performance
Level d (PLd) using a category 3 architecture.
See chapter in part Part II PolyScope Manual for configuration of the safety functions, inputs and
outputs in the user interface. See chapter 2.4. Electrical Interfaceon page36 for descriptions on
how to connect safety devices to I/O.
WARNING
The use of safety configuration parameters different from those determined as
necessary for risk reduction, can result in hazards that are not reasonably
eliminated, or risks that are not sufficiently reduced.
•
Ensure tools and grippers are connected correctly to avoid hazards due to
interruption of power.
WARNING: ELECTRICITY
Programmer and/or wiring errors can cause the voltage to change from 12V to 24V
leading to fire damage to equipment.
•
Verify the use of 12V and proceed with caution.
NOTICE
•
The use and configuration of safety functions and interfaces must follow the
risk assessment procedures for each robot application. (see chapter2.1.
Safetyon page13 section)
•
The stopping time should be taken into account as part of the application risk
assessment
•
If the robot detects a fault or violation in the safety system (e.g. if one of the
wires in the Emergency Stop circuit is cut or a safety limit is exceeded), then a
Stop Category 0 is initiated.
User Manual 23 UR16e
2.Part I Hardware Installation Manual
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