Emergency Stop - Universal Robots UR3/CB3 User Manual

When assessing risks in a collaborative robot application, it is particularly important
to cover:
If the robot is installed in a non-collaborative robot application where hazards cannot
be reasonably eliminated or risks cannot be sufficiently reduced by use of the built-in
safety-related functions (e.g. when using a hazardous tool), then the risk assessment
conducted by the integrator must conclude that the integrator needs to add additional
protective measures (e.g. an enabling device to protect the integrator during set-up
and programming).
Universal Robots has identified the potential significant hazards listed below as haz-
ards which must be considered by the integrator. Note that other significant hazards
might be present in a specific robot installation.
1. Entrapment of fingers between robot foot and base (joint 0).
2. Entrapment of fingers between wrist 1 and wrist 2 (joint 3 and joint 4).
3. Penetration of skin by sharp edges and sharp points on tool or tool connector.
4. Penetration of skin by sharp edges and sharp points on obstacles near the robot
5. Bruising due to stroke from the robot.
6. Sprain or bone fracture due to strokes between a heavy payload and a hard sur-
7. Consequences due to loose bolts that hold the robot arm or tool.
8. Items falling out of tool, e.g. due to a poor grip or power interruption.
9. Mistakes due to different emergency stop buttons for different machines.
10. Mistakes due to unauthorized changes to the safety configuration parameters.
Information on stopping times and stopping distances are found in chapter 2 and ap-
pendix A.

1.8 Emergency Stop

Activate the emergency stop button to immediately stop all robot motion.
Emergency stop shall not be used as a risk reduction measure, but as a secondary
protective device.
The risk assessment of the robot application shall conclude if more emergency stop
buttons must be connected. Emergency stop buttons should comply with IEC 60947-
5-5, see more in section 5.3.2.
UR3/CB3
• Severity of individual potential collisions;
• Likeliness of occurrence of individual potential collisions;
• Possibility to avoid individual potential collisions;
track.
face.
I-10
1.8 Emergency Stop
Version 3.3.3