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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 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 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 and ISO 10218-2 combined into one
document. The language is changed from British English to American English, but the content is
the same.
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
User Manual
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UR10
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