Universal Robots UR5 User Manual page 75

functions 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 func-
tions 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 stan-
dards 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.
CAN/CSA-Z434-14
Industrial Robots and Robot Systems – General Safety Requirements
This Canadian standard is the ISO standards ISO 10218-1 (see above) and -2 combined into one docu-
ment. CSA added additional requirements for the user of the robot system. Some of these requirements
might need to be addressed by the robot integrator.
Note that part two (ISO 10218-2) of this standard is intended for the integrator of the robot system, and
not Universal Robots.
Version 3.4.5 I-63 UR5/CB3