Universal Robots UR3/CB3 User Manual page 204

Collaborative robot application: The term "collaborative" refers to collaboration between
Safety configuration: Safety-related functions and interfaces are configurable through
CB3
operator and robot in a robot application. See precise definitions and descriptions
in ISO 10218-1 and ISO 10218-2.
safety configuration parameters. These are defined through the software inter-
face, see part II.
II-120
15.7 URCaps Setup
Version 3.3.3