WARNING
If the robot is used in manual hand-guiding applications with linear movements, the
speed limit must be set to maximum 250mm/s for the tool/end effector and elbow
unless a risk assessment shows that higher speeds are acceptable. This will
prevent fast movements of the robot elbow near singularities.
4.1:Due to the physical properties of the robot arm, certain workspace areas require attention
regarding pinching hazards. One area (left) is defined for radial motions when the wrist 1 joint is
at least 750 mm from the base of the robot. The other area (right) is within 200 mm of the base of
the robot, when moving tangentially.
The robot also has the following safety inputs:
Safety Input Description
Emergency
Stop Button
Performs a Stop Category 1 (IEC 60204-1) informing other machines using the
System Emergency Stop output, if that output is defined. A stop is initiated in
anything connected to the output.
Robot
Emergency
Stop
Performs a Stop Category 1 (IEC 60204-1) via Control Box input, informing other
machines using the System Emergency Stop output, if that output is defined.
System
Emergency
Stop
Performs a Stop Category 1 (IEC 60204-1) on robot only, in all modes and takes
precedence over all other commands.
Safeguard
Stop
Performs a Stop Category 2 (IEC 60204-1) in all modes, except when using a 3-
Position Enabling Device and a mode selector - then when in Manual Mode, the
Safeguard Stop can be set to only fucntion in Automatic Mode.
Automatic
Mode
Safeguard
Stop
Performs a Stop Category 2 (IEC 60204-1) in Automatic mode ONLY. Automatic
Mode Safeguard Stop can only be selected when a Three-Position Enabling Device
is configured and installed.
UR5e 18 Hardware Manual
2.Safety-related Functions and Interfaces
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