Universal Robots UR3/CB3 User Manual page 77

• "5.7 Operating modes". UR robots do not have different operating modes and therefore they do not
have a mode selector.
• "5.8 Pendant controls". This section defines protective features for the teach pendant, when it is to be
used within a hazardous safeguarded space. Since UR robots are designed for collaborative operation,
there is no hazardous safeguarded space like with traditional robots. UR robots are safer to teach than
traditional robots. Instead of having to release a three-positioning enabling device, the operator can
simply stop the robot with his hand. If a UR robots is installed in a hazardous safeguarded application,
a three-positioning enabling device can be connected as instructed in this manual. Additionally see
clarification in ISO/TS 15066 clause 5.4.5.
• "5.10 Collaborative operation requirements". The power and force limiting collaborative safety func-
tions of UR robots are always active. The visual design of the UR robots indicates that the robots are
capable of being used for collaborative operations. The power and force limiting functions are designed
according to ISO 10218-1 clause 5.10.5. Additionally see clarification in ISO/TS 15066 clause 5.5.4.
• "5.12.3 Safety-rated soft axis and space limiting". This safety function is one of more safety functions
configurable through software. A hash code is generated from the sittings of all these safety functions
and is represented as a safety check identifier in the GUI.
ISO/TS 15066:2016
Robots and robotic devices – Safety requirements for industrial robots – Collaborative operation
This is a Technical Specification (TS), not a standard. The purpose of a TS is to present a set of immature
requirements to see if they are useful for a given industry. By definition, a TS is not mature enough to be
harmonized under European Directives.
This TS is for both robot manufacturer and robot integrator. UR robots comply with the parts that are
relevant for the raw robots themselves and the integrator can choose to use the TS when integrating the
robots.
This TS presents voluntary requirements and guidance that are supplementary to the ISO 10218 standards
in the field of collaborative robots. In addition to the main text the TS includes an annex A with a table that
presents suggestions for force and pressure limits, which are based on pain and not injury. It is important
to read and understand the notes under this table, as many of the limits are based on conservative estimates
and literature study only. All numbers are subject to change in the future, as new results from scientific
research are ready. Annex A is an informal and voluntary part of the TS and an integrator can therefore
state compliance with the TS without using the limit values in Annex A.
ANSI/RIA R15.06-2012
Industrial Robots and Robot Systems – Safety Requirements
This American standard is the ISO standards ISO 10218-1 (see above) and ISO 10218-2 combined into one
document. The language is changed from British English to American English, but the content is the same.
Note that part two (ISO 10218-2) of this standard is intended for the integrator of the robot system, and not
Universal Robots.
Version 3.3.3 I-65 UR3/CB3