ABB Robotics IRC5 Safety Manual page 21

Collaborative applications
If a robot is intended for a collaborative application, where occasional contact
between the robot and the operator is expected, the safety aspects must still be
addressed. See the product manual for the manipulator.
Verify the safety functions
Before the robot system is put into operation, verify that the safety functions are
working as intended and that any remaining hazards identified in the risk
assessment are mitigated to an acceptable level.
Safety manual for robot - Manipulator and IRC5 or OmniCore controller
3HAC031045-001 Revision: R
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5 Installation and commissioning
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