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1.6. Safety-related Functions and Interfaces

1.6.1. 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 for

certifications) with Performance Level d (PLd).

WARNING

Use of safety configuration parameters different from those defined 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 1.20. Safety Configurationon page87 in part Part II PolyScope Manualon page85

for configuration of the safety-related features, inputs, and outputs in the user interface. See

chapter 1.9. Electrical Interface on page29 for descriptions on how to connect safety devices to

the electrical interface.

NOTE

1. Use and configuration of safety-related functions and interfaces must be

done according to the risk assessment that the integrator conducts for a

specific robot application, see section1.5.7. Risk Assessmenton page10

in chapter1.5. Safety on page5.

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 function 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:

Limiting Safety Function Description

Joint position Min.and max.angular joint position

Joint speed Max.angular joint speed

TCP position Planes in Cartesian space limiting robot TCP position

TCP speed Max.speed of the robot TCP

User Manual 13 UR10

Universal Robots UR10/CB3 User Manual

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