Universal Robots UR3/CB3 User Manual page 21

1.7 Risk Assessment
pleted machinery, as the safety of the robot installation depends on how the robot is
integrated (E.g. tool, obstacles and other machines).
It is recommended that the integrator uses guidelines in ISO 12100 and ISO 10218-
2 to conduct the risk assessment. Additionally the integrator can choose to use the
Technical Specification ISO/TS 15066 as additional guidance.
The risk assessment that the integrator conducts shall consider all work procedures
throughout the lifetime of the robot application, including but not limited to:
A risk assessment must be conducted before the robot arm is powered on for the
first time. A part of the risk assessment conducted by the integrator is to identify the
proper safety configuration settings, as well as the need for additional emergency stop
buttons and/or other protective measures required for the specific robot application.
Identifying the correct safety configuration settings is a particularly important part
of developing collaborative robot applications. See chapter 2 and Part II for detailed
information.
Some safety-related features are purposely designed for collaborative robot applica-
tions. These features are configurable though the safety configuration settings and are
particularly relevant when addressing specific risks in the risk assessment conducted
by the integrator:
Applying the correct safety configuration settings is considered equivalent to bolting
the robot into place and connecting safety-related equipment to safety-related I/Os.
The integrator must prevent unauthorized persons from changing the safety configu-
ration, e.g. by use of password protection.
Version 3.3.3
• Teaching the robot during set-up and development of the robot installation;
• Troubleshooting and maintenance;
• Normal operation of the robot installation.
• Force and power limiting: Used to reduce clamping forces and pressures
exerted by the robot in the direction of movement in case of collisions between
the robot and the operator.
• Momentum limiting: Used to reduce high transient energy and impact forces
in case of collisions between robot and operator by reducing the speed of the
robot.
• Joint and TCP position limiting: Particularly used to reduce risks as-
sociated with certain body parts. E.g. to avoid movement towards head and
neck during set-up and programming.
• TCP and tool orientation limiting: Particularly used to reduce risks
associated with certain areas and features of the tool and work-piece. E.g. to
avoid sharp edges to be pointed towards the operator.
• Speed limitation: Particularly used to ensure a low speed of the robot arm.
E.g. to provide time for the operator to avoid contact with the robot arm.
I-9 UR3/CB3