Emergency Stop - Universal Robots UR5 User Manual

5. Bruising due to stroke from the robot.
6. Sprain or bone fracture due to strokes between a heavy payload and a
hard surface.
7. Items falling out of tool. E.g. due to a poor grip or power interruption.
8. Electrical shock or fire due to malfunction of power supplies if the mains
connection is not protected by a main fuse, a residual current device and
a proper connection to earth.
9. Mistakes due to different emergency stop bottons for different machines.
Use common emergency stop function as described in section 3.2.1.
However, the UR5 is a very safe robot due to the following reasons:
1. Control system conforms to ISO 13849-1 performance level d.
2. The control system of the robot is redundant so that all dangerous failures
forces the robot to enter a safe condition.
3. High level software generates a protective stop if the robot hits something.
This stop force limit is lower than 150 .
4. Low level software limits the torque generated by the joints, permitting only
a small deviation from the expected torque.
5. The software prevents program execution when the robot is mounted dif-
ferently than specified in the setup.
6. The weight of the robot is less than 18
7. The robot shape is smooth, to reduce pressure (
8. It is possible to move the joints of an unpowered robot. See section 1.6
The fact that the robot is very safe opens the possibility of either saving the
safety guards or using safety guards with a low performance level, depending
on the robot installation. As a help for the integrator when he is conducting
the risk assessment, the robot has been third party certified by the Danish Tech-
nological Institute (TI). TI is a Notified Body under the Machinery Directive in EU.
This means that TI has the highest authority within EU to certifying machines. This
third party certification can also be used when conducting risk assessment for
installations within US.
The TI certification concludes that the UR robots cannot exceed a force of more
than 150 . The certification is performed in accordance with the international
ISO 10218 standards and thereby also in accordance with the R15.06-2012. Find
the certificate in the chapter B.

1.5 Emergency stop

To immediately abort all running programs and stop all robot movement, press
the EMERGENCY STOP button.
The emergency stop function is a separate circuit only intended for emergency
situations. The function is not intended to be a part of a normal routine.
Emergency stop shall be tested after installation and after any service. Periodic
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1.5. Emergency stop
.
) per force ( ).
10 UR5