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5 Safety-related Functions and Interfaces

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 protec-

tive devices. Each safety function and interface is monitored according to ISO 13849-1

(see Chapter 8 for certiﬁcations) with Performance Level d (PLd).

NOTE:

If the robot discovers a fault in the safety system, e.g. one of the wires

in the emergency stop circuit is cut, or a position sensor is broken, a

category 0 stop is initiated. The worst case reaction time, from the

time an error occurs to the point in time that it is detected, and the

robot is stopped and powered off, is 1250 ms.

Part II of the PolyScope Manual describes conﬁguration of the safety-related features,

inputs, and outputs. See Chapter 4 for descriptions on how to connect safety devices

to the electrical interface.

5.1 Limiting Safety-related Functions

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

ment 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 (see Part II, the PolyScope

Manual).

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

TCP force Max. pushing force of the robot TCP

Momentum Max. momentum of the robot arm

Power Max. applied robot arm power

Advanced path control software decreases speed or issues a program execution stop

if the robot arm approaches a safety-related limit. Violations of limits will hence only

occur in exceptional cases. Nevertheless, if a limit is violated, the safety system issues

a category 0 stop with the performance listed in the table:

Version 3.1 (rev. 17782)

I-39 UR5/CB3

Universal Robots UR5 Original Instructions

Other manuals for Universal Robots UR5