Universal Robots UR3/CB3 User Manual page 76

ISO 13850:2006 [Stop Category 1]
ISO 13850:2015 [Stop Category 1]
EN ISO 13850:2008 (E) [Stop Category 1 - 2006/42/EC]
EN ISO 13850:2015 [Stop Category 1 - 2006/42/EC]
Safety of machinery – Emergency stop – Principles for design
The emergency stop function is designed as a Stop Category 1 according to this standard. Stop Category 1
is a controlled stop with power to the motors to achieve the stop and then removal of power when the stop
is achieved.
ISO 12100:2010
EN ISO 12100:2010 (E) [2006/42/EC]
Safety of machinery – General principles for design – Risk assessment and risk reduction
UR robots are evaluated according to the principles of this standard.
ISO 10218-1:2011
EN ISO 10218-1:2011(E) [2006/42/EC]
Robots and robotic devices – Safety requirements for industrial robots
Part 1: Robots
This standard is intended for the robot manufacturer, not the integrator. The second part (ISO 10218-2) is
intended for the robot integrator, as it deals with the installation and design of the robot application.
The writers of the standard implicitly envisioned traditional industrial robots, which are traditionally safe-
guarded by fences and light curtains. UR robots are designed with force and power limiting enabled at all
times. Therefore, some concepts are clarified and explained below.
If a UR robot is used in a hazardous application, additional safety measures might be required, see chapter 1
of this manual.
Clarification:
• "3.24.3 Safeguarded space" is defined by the perimeter safeguarding. Typically, the safeguarded space
is a space behind a fence, which protects people from the hazardous traditional robots. UR robots are
designed to work without a fence using built-in power and force limiting collaborative safety functions,
and therefore without a hazardous safeguarded space defined by the perimeter of a fence.
• "5.4.2 Performance requirement". All safety functions are constructed as PLd according to ISO 13849-
1:2006. The robot is constructed with redundant encoder systems in each joint, and the safety-rated
I/Os are constructed with a Category
to this manual to Category 3 safety-rated equipment to form a PLd structure of the complete safety
function.
1
According to ISO 13849-1, see Glossary for more details.
UR3/CB3
1
3 structure. The safety-rated I/Os must be connected according
I-64 Version 3.3.3