1.8 Emergency Stop
installation depends on how the robot is integrated (E.g. tool, obstacles and other
machines).
It is recommended that the integrator uses guidelines in ISO 12100 and ISO 10218-2 to
conduct the risk assessment.
The risk assessment shall consider two scenarios:
• Teaching the robot while developing the robot installation;
• Normal operation of the robot installation.
If the robot is installed in a non-collaborative installation (E.g. when using a haz-
ardous tool) the risk assessment might conclude that the integrator needs to connect
additional safety devices (E.g. an enable device) to protect him while programming.
Universal Robots has identified the potential significant hazards listed below as haz-
ards which must be considered by the integrator. Note that other significant hazards
might be present in a specific robot installation.
1. Entrapment of fingers between robot foot and base (joint 0).
2. Entrapment of fingers between wrist 1 and wrist 2 (joint 3 and joint 4).
3. Penetration of skin by sharp edges and sharp points on tool or tool connector.
4. Penetration of skin by sharp edges and sharp points on obstacles near the robot
track.
5. Bruising due to stroke from the robot.
6. Sprain or bone fracture due to strokes between a heavy payload and a hard sur-
face.
7. Consequences due to loose bolts that hold the robot arm or tool.
8. Items falling out of tool, e.g. due to a poor grip or power interruption.
9. Mistakes due to different emergency stop buttons for different machines.
Information on stopping times and stopping distances are found in appendix A.
1.8 Emergency Stop
Activate the emergency stop button to immediately stop all robot motion.
Emergency stop shall not be used as a risk reduction measure, but as a secondary
protective device.
The risk assessment of the robot application shall conclude if more emergency stop
buttons must be connected. Emergency stop buttons should comply with IEC 60947-
5-5, see more in section 4.3.2.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
I-9 UR5/CB3
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