Safety-Related Functions And Interfaces; Introduction; Stop Categories - Universal Robots E Series Original Instructions Manual

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3. Safety-related Functions and Interfaces
3. Safety-related Functions and Interfaces

3.1. Introduction

Universal Robots e-Series robots are equipped with a range of built-in safety functions as well as
safety I/O, digital and analog control signals to or from the electrical interface, to connect to other
machines and additional protective devices. Each safety function and I/O is constructed according
to EN ISO13849-1 (see
Level d (PLd) using a category 3 architecture.
See chapter
21. Safety Configuration on page 119
configuration of the safety functions, inputs and outputs in the user interface. See chapter for
descriptions on how to connect safety devices to I/O.
NOTE
1. The use and configuration of safety functions and interfaces must follow the
risk assessment procedures for each robot application. (see
chapter 2. Safety on page 7 section 2.7. Risk Assessment on
2. If the robot discovers a fault or violation in the safety system (e.g. if one of
the wires in the Emergency Stop circuit is cut or a safety limit is exceeded)
then a Stop Category 0 is initiated.
3. The stopping time should be taken into account as part of the application
risk assessment
WARNING
1. The use of safety configuration parameters different from those determined
by the risk assessment can result in hazards that are not reasonably
eliminated or risks that are not sufficiently reduced
2. Ensure tools and grippers are connected appropriately so if there is an
interruption of power, no hazards occurl
3. Use caution with 12V, since an error made by the programmer can cause the
voltage to change to 24V, which might damage the equipment and cause a
fire
4. The end effector is not protected by the UR safety system. The functioning of
the end effector and/or connection cable is not monitored

3.2. Stop Categories

User Manual
chapter 9. Certifications on page 61
for certifications) with Performance
in part
Part II PolyScope Manual on page 97
17
for
page 12)
UR5e

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