Safety-Related Functions And Interfaces; Introduction - Universal Robots e Series User Manual

2 Safety-related Functions and Interfaces

2.1 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 ISO13849-1:2008 (see chapter 8 for certifications) with Performance Level d (PLd)
using a category 3 architecture.
See chapter 13 in part II for configuration of the safety functions, inputs and outputs in the user
interface. See chapter 5 for descriptions on how to connect safety devices to I/O.
Version 5.4
NOTE:
1. The use and configuration of safety functions and interfaces
must follow the risk assessment procedures for each robot ap-
plication. (see chapter 1 section 1.7)
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 violated) then a Stop Category 0 is initiated.
3. The stopping time should be taken into account as part of the
application risk assessment
DANGER:
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
I-11 UR5e/e-Series