Pre-Use Assessment - Universal Robots E Series Original Instructions Manual

assessment conducted by the integrator must conclude the need for additional protective
measures (e.g. an enabling device to protect the operator during set-up and
programming).
Universal Robots identifies the potential significant hazards listed below as hazards that
must be considered by the integrator. Other significant hazards can be present in a
specific robot installation.
1. Penetration of skin by sharp edges and sharp points on tool/end effector or
tool/end effector connector.
2. Penetration of skin by sharp edges and sharp points on obstacles near the robot
track.
3. Bruising due to contact with the robot.
4. Sprain or bone fracture due to strokes between a heavy payload and a hard surface.
5. Consequences due to loose bolts that hold the robot arm or tool/end effector.
6. Items falling out of tool/end effector, e.g. due to a poor grip or power interruption.
7. Mistakes due to different emergency stop buttons for different machines.
8. Mistakes due to unauthorized changes to the safety configuration parameters.
Information on stopping times and stopping distances are found in
related Functions and Interfaces on page 17

2.8. Pre-Use Assessment

The following tests must be conducted before using the robot for the first time or after
any modifications are made. Verify that all safety input and output are appropriately and
correctly connected. Test that all connected safety input and output, including devices
common to multiple machines or robots, are functioning. As such you must:
• Test that emergency stop buttons and input stop the robot and engage brakes.
• Test that safeguard input stop the robot motion. If safeguard reset is configured,
check that it needs to be activated before motion can be resumed.
• Examine the initialization screen to test that reduced mode can switch the safety
mode to reduced mode.
• Test that the operational mode switches the operational mode, see icon in top right
corner of user interface.
• Test that the 3-position enabling device must be pressed to enable motion in
manual mode and that the robot is under reduced speed control.
UR5e
and appendix .
14
2. Safety
chapter 3. Safety-
User Manual