2.Safety-related Functions and Interfaces
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 8.Certificationson page63for certifications) with Performance
Level d (PLd) using a category 3 architecture.
See chapter Safety Configuration for configuration of the safety functions, inputs and outputs in
the user interface. See chapter 4.Electrical Interfaceon page29 for descriptions on how to
connect safety devices to I/O.
NOTE
1. The use and configuration of safety functions and interfaces must follow the
risk assessment procedures for each robot application. (see
chapter1.Safetyon page5 sectionRisk Assessment)
2. If the robot discovers 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.
3. The stopping time should be taken into account as part of the application
risk assessment
WARNING
1. The use of safety configuration parameters different from those determined
by the risk assessment can result in hazards that are not reasonably
eliminated or risks that are not sufficiently reduced
2. Ensure tools and grippers are connected appropriately so if there is an
interruption of power, no hazards occurl
3. Use caution with 12V, since an error made by the programmer can cause the
voltage to change to 24V, which might damage the equipment and cause a
fire
4. The end effector is not protected by the UR safety system. The functioning of
the end effector and/or connection cable is not monitored
2.2. Stop Categories
Depending on the circumstances, the robot can initiate three types of stop categories defined
according to IEC 60204-1. These categories are defined in the following table.
Hardware Manual 15 UR5e
2.Safety-related Functions and Interfaces
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