1 is 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
safeguarded 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 built-in power and force limiting collaborative
safety functions, and therefore without a 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
1
3 structure. The safety-rated I/Os must be connected accord-
ing 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 designed for collaborative
operation, 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. If a UR robots is installed in a hazardous
safeguarded application, a three-positioning enabling device can be connected as instructed in this
manual. Additionally see clarification in ISO/TS 15066 clause 5.4.5.
• “5.10 Collaborative operation requirements”. The power and force limiting collaborative safety
1
According to ISO 13849-1, see Glossary for more details.
UR5/CB3 I-62 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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