Universal Robots UR10/CB3 User Manual page 78

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 safeguarded 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 1.5. Safety on page 5
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 3
I/Os must be connected according to this manual to Category 3 safety-rated equipment to
form a PLd structure of the complete safety function.
• "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
1
According to ISO 13849-1, see Glossary for more details.
UR10
of this manual.
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1
structure. The safety-rated
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