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2 Safety-related Functions and Interfaces

2.1 Introduction

UR robots are equipped with a range of built-in safety-related functions as well

as safety-related electrical interfaces to connect to other machines and additional

protective devices. Each safety function and interface is monitored according to EN

ISO13849-1:2008 (see Chapter 8 for certiﬁcations) with Performance Level d (PLd).

DANGER:

Use of safety conﬁguration parameters different from those de-

ﬁned by the risk assessment conducted by the integrator can result

in hazards that are not reasonably eliminated or risks that are not

sufﬁciently reduced.

See chapter 10 in part II for conﬁguration of the safety-related features, inputs, and

outputs in the user interface. See chapter 5 for descriptions on how to connect

safety devices to the electrical interface.

NOTE:

1. Use and conﬁguration of safety-related functions and inter-

faces must be done according to the risk assessment that the

integrator conducts for a speciﬁc robot application, see sec-

tion 1.7 in chapter 1.

2. If the robot discovers a fault or violation in the safety system,

e.g. one of the wires in the emergency stop circuit is cut, a

position sensor is broken, or a limit of a safety-related func-

tion has been violated, a Stop Category 0 is initiated. The

worst case time from an error occurs to the robot is stopped

is listed at the end of this chapter. This time should be taken

into account as part of the risk assessment conducted by the

integrator.

The robot has a number of safety-related functions that can be used to limit the

movement of its joints and of the robot Tool Center Point (TCP). The TCP is the

center point of the output ﬂange with the addition of the TCP offset.

The limiting safety-related functions are:

Version 3.4.5

I-11 UR5/CB3

Universal Robots UR5 User Manual

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