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# ISO 102 18-1 Tec hn i que Ex pl ana ti on U R e-Seri es 1 C o ll ab orati v e O perati on 201 1 edi ti on, c la us e 5.10.2 Safety -rated mo ni tored s top Stop con di ti on w he re posi tion is hel d at a stan ds ti l…

Safety

Function

Description PFHd Affects

Reduced

Mode SF

settings

change

Reduced Mode can be initiated by a safety plane/ boundary (starts

when at 2cm of the plane and reduced mode settings are achieved

within 2cm of the plane) or by use of an input to initiate (will achieve

reduced settings within 500ms).

When the external connections are Low, Reduced Mode is

initiated. Reduced Mode means that ALL reduced mode limits are

ACTIVE.

Reduced mode is not a safety function, rather it is a state affecting

the settings of the following safety function limits: joint position, joint

speed, TCP pose limit, TCP speed, TCP force, momentum,

power, stopping time, and stopping distance.

PFHd is

either

1.20E-07

or 1.50E-

depending

on the

safety

function

Robot

Safeguard

Reset

When configured for Safeguard Reset and the external

connections transition from low to high, the safeguard stop

RESETS. Safety input to initiate a reset of safeguard stop safety

function.

Input to

SF2 (See

SF2)

Robot

3 Position

Enabling

Device

INPUT

When the external Enabling Device connections are Low, a

Safeguard Stop (SF2) is initiated. Recommendation: Use with a

mode switch as a safety input. If a mode switch is not used and

connected to the safety inputs, then the robot mode will be

determined by the User Interface. If the User Interface is in

• “run mode”, the enabling device will not be active.

• “programming mode”, the enabling device will be active. It is

possible to use password protection for changing the mode

by the User Interface.

Input to

SF2 (See

SF2

safeguard

stop)

Robot

Mode

switch

INPUT

When the external connections are Low, Operation Mode (running/

automatic operation in automatic mode) is in effect. When High,

mode is programming/ teach. Recommendation: Use with a 3-

position enabling device. When in teach/program, initially the TCP

speed will be limited to 250mm/s. The speed can manually be

increased by using the pendant user interface “speed-slider”, but

upon activation of the enabling device, the speed limitation will

reset to 250mm/s.

Input to

SF2 (See

SF2

safeguard

stop)

Robot

17.2. Table 2

UR e-Series robots comply with ISO 10218-1:2011 and the applicable portions of ISO/TS 15066. It is

important to note that most of ISO/TS 15066 is directed towards the integrator and not the robot

manufacturer. ISO 10218-1:2011, clause 5.10 collaborative operation details 4 collaborative operation

techniques as explained below. It is very important to understand that collaborative operation is of the

APPLICATION when in AUTOMATIC mode.

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# ISO 10218-1 Technique Explanation UR e-Series

Collaborative

Operation

2011 edition,

clause 5.10.2

Safety-rated

monitored

stop

Stop condition where position is held

at a standstill and is monitored as a

safety function. Category 2 stop is

permitted to auto reset. In the case of

resetting and restarting operation

after a safety -rated monitored stop,

see ISO 10218-2 and ISO/TS 15066

as resumption shall not cause

hazardous conditions.

UR robots’ safeguard stop

is a safety-rated monitored

stop, See SF2 on page 1.

It is likely, in the future, that

“safety-rated monitored

stop” will not be called a

form of collaborative

operation.

Collaborative

Operation

2011 edition,

clause 5.10.3

Hand-

guiding

This is essentially individual and direct

personal control while the robot is in

automatic mode.

Hand guiding equipment shall be

located close to the end-effector and

shall have:

• an Emergency Stop

pushbutton

• a 3-position enabling device

• a safety-rated monitored stop

function

• a settable safety-rated

monitored speed function

UR robots do not provide

hand-guiding for

collaborative operation.

Hand-guided teach (free

drive) is provided with UR

robots but this is for

programming in manual

mode and not for

collaborative operation in

automatic mode.

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# ISO 10218-1 Technique Explanation UR e-Series

Collaborative

Operation

2011 edition,

clause 5.10.4

Speed and

separation

monitoring

(SSM)

safety

functions

SSM is the robot maintaining a

separation distance from any

operator (human). This is done by

monitoring of the distance between

the robot system and intrusions to

ensure that the MINIMUM

PROTECTIVE DISTANCE is

assured. Usually, this is accomplished

using Sensitive Protective Equipment

(SPE), where typically a safety laser

scanner detects intrusion(s) towards

the robot system.

This SPE causes:

1. dynamic changing of the

parameters for the limiting

safety functions; or

2. a safety-rated monitored stop

condition.

Upon detection of the intrusion exiting

the protective device’s detection

zone, the robot is permitted to:

1. resume the “higher” normal

safety function limits in the case

of 1) above

2. resume operation in the case of

2) above

In the case of 2) 2), restarting

operation after a safety -rated

monitored stop, see ISO 10218-2 and

ISO/TS 15066 for requirements.

To facilitate SSM, UR

robots have the capability

of switching between two

sets of parameters for

safety functions with

configurable limits (normal

and reduced). See

Reduced Mode on page 4.

Normal operation can be

when no intrusion is

detected. It can also be

caused by safety planes/

safety boundaries. Multiple

safety zones can be

readily used with UR

robots. For example, one

safety zone can be used

for “reduced settings” and

another zone boundary is

used as a safeguard stop

input to the UR robot.

Reduced limits can also

include a reduced setting

for the stop time and stop

distance limits – to reduce

the work area and

floorspace.

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