a controlled stop with power to the motors to achieve the stop and then removal of power when the stop is
achieved.
ISO 12100:2010
EN ISO 12100:2010 (E) [2006/42/EC]
Safety of machinery – General principles for design – Risk assessment and risk reduction
UR robots are evaluated according to the principles of this standard.
ISO 10218-1:2011
EN ISO 10218-1:2011(E) [2006/42/EC]
Robots and robotic devices – Safety requirements for industrial robots
Part 1: Robots
This standard is intended for the robot manufacturer, not the integrator. The second part (ISO 10218-2) is
intended for the robot integrator, as it deals with the installation and design of the robot application.
The writers of the standard implicitly envisioned traditional industrial robots, which are traditionally safe-
guarded by fences and light curtains. UR robots are designed with force and power limiting enabled at all
times. Therefore, some concepts are clarified and explained below.
If a UR robot is used in a hazardous application, additional safety measures might be required, see chapter 1
of this manual.
Clarification:
• “3.24.3 Safeguarded space” is defined by the perimeter safeguarding. Typically, the safeguarded space
is a space behind a fence, which protects people from the hazardous traditional robots. UR robots are
designed to work without a fence using a built-in power and force limiting safety function, where there
is no hazardous safeguarded space defined by the perimeter of a fence.
• “5.4.2 Performance requirement”. All safety functions are constructed as PLd according to ISO 13849-
1:2006. The robot is constructed with redundant encoder systems in each joint, and the safety-rated I/Os
are constructed with a category 3 structure. The safety-rated I/Os must be connected according to this
manual to category 3 safety-rated equipment to form a PLd structure of the complete safety function.
• “5.7 Operating modes”. UR robots do not have different operating modes and therefore they do not
have a mode selector.
• “5.8 Pendant controls”. This section defines protective features for the teach pendant, when it is to be
used within a hazardous safeguarded space. Since UR robots are power and force limited, there is no
hazardous safeguarded space like with traditional robots. UR robots are safer to teach than traditional
robots. Instead of having to release a three-positioning enabling device, the operator can simply stop
the robot with his hand.
• “5.10 Collaborative operation requirements”. The power and force limiting function of UR robots is
always active. The visual design of the UR robots indicates that the robots are capable of being used for
collaborative operations. The power and force limiting function is designed according to clause 5.10.5.
UR5/CB3 I-60 Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
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