Universal Robots UR5 User Manual page 20

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 appli-
cations. 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 bolt-
ing the robot into place and connecting safety-related equipment to safety-related
I/Os. The integrator must prevent unauthorized persons from changing the safety
configuration, e.g. by use of password protection.
When assessing risks in a collaborative robot application, it is particularly impor-
tant to cover:
If the robot is installed in a non-collaborative robot application where hazards can-
not 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 integra-
tor during set-up and programming).
Universal Robots has identified the potential significant hazards listed below as
hazards 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).
UR5/CB3
• Force and power limiting: Used to reduce clamping forces and pres-
sures 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
associated 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.
• Severity of individual potential collisions;
• Likeliness of occurrence of individual potential collisions;
• Possibility to avoid individual potential collisions;
I-8
1.7 Risk Assessment
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