Universal Robots UR5/CB3 User manual

Universal Robots
UR5/CB3
Original instructions (en)

Universal Robots
UR5/CB3
Euromap67
Version 3.11
Original instructions (en)

The information contained herein is the property of Universal Robots A/S and shall not be repro-
duced in whole or in part without prior written approval of Universal Robots A/S. The informa-
tion herein is subject to change without notice and should not be construed as a commitment by
Universal Robots A/S. This manual is periodically reviewed and revised.
Universal Robots A/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2009–2019 by Universal Robots A/S
The Universal Robots logo is a registered trademark of Universal Robots A/S.
UR5/e-Series ii Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

Contents
Preface ix
WhatDotheBoxesContain ...................................... ix
ImportantSafetyNotice ........................................ ix
HowtoReadThisManual....................................... x
WheretoFindMoreInformation ................................... x
UR+ ................................................ x
I Hardware Installation Manual I-1
1 Safety I-3
1.1 Introduction............................................ I-3
1.2 Validity and Responsibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-3
1.3 LimitationofLiability ...................................... I-4
1.4 Warning Symbols in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-4
1.5 General Warnings and Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-5
1.6 IntendedUse ........................................... I-8
1.7 RiskAssessment ......................................... I-8
1.8 EmergencyStop ......................................... I-10
1.9 Movement With and Without Drive Power . . . . . . . . . . . . . . . . . . . . . . . . . . I-10
2 Safety-related Functions and Interfaces I-11
2.1 Introduction............................................ I-11
2.2 Stopping times of the Safety System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-12
2.3 Limiting Safety-related Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-12
2.4 SafetyModes ........................................... I-13
2.5 Safety-related Electrical Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-15
2.5.1 Safety-related Electrical Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-15
2.5.2 Safety-related Electrical Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . I-16
3 Transportation I-19
4 Mechanical Interface I-21
4.1 Introduction............................................ I-21
4.2 WorkspaceoftheRobot ..................................... I-21
4.3 Mounting ............................................. I-21
4.4 MaximumPayload........................................ I-25
5 Electrical Interface I-27
5.1 Introduction............................................ I-27
5.2 Electrical warnings and cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-27
5.3 ControllerI/O .......................................... I-29
5.3.1 Common specifications for all digital I/O . . . . . . . . . . . . . . . . . . . . . . I-29
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iii UR5/e-Series

5.3.2 SafetyI/O ........................................ I-30
5.3.3 General purpose digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-34
5.3.4 Digital input from a button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-35
5.3.5 Communication with other machines or PLCs . . . . . . . . . . . . . . . . . . . I-35
5.3.6 General purpose analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-35
5.3.7 Remote ON/OFF control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-37
5.4 ToolI/O.............................................. I-38
5.4.1 ToolDigitalOutputs .................................. I-39
5.4.2 ToolDigitalInputs ................................... I-40
5.4.3 ToolAnalogInputs................................... I-40
5.5 Ethernet.............................................. I-41
5.6 Mainsconnection......................................... I-42
5.7 Robotconnection......................................... I-43
6 Maintenance and Repair I-45
6.1 SafetyInstructions ........................................ I-45
7 Disposal and Environment I-47
8 Certifications I-49
8.1 ThirdPartyCertification..................................... I-49
8.2 Supplier Third Party Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-50
8.3 Manufacturer Test Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-50
8.4 Declarations According to EU directives . . . . . . . . . . . . . . . . . . . . . . . . . . . I-50
9 Warranties I-51
9.1 ProductWarranty ........................................ I-51
9.2 Disclaimer............................................. I-51
A Stopping Time and Stopping Distance I-53
A.1 Stop Category 0 stopping distances and times . . . . . . . . . . . . . . . . . . . . . . . . I-53
B Declarations and Certificates I-55
B.1 EU Declaration of Incorporation in accordance with ISO/IEC 17050-1:2010 . . . . . . . I-55
B.2 SafetySystemCertificate .................................... I-57
B.3 TUVRheinland.......................................... I-58
B.4 ChinaRoHS............................................ I-59
B.5 KCCSafety ............................................ I-60
B.6 Environmental Test Certificate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-61
B.7 EMCTestCertificate....................................... I-62
B.8 Cleanroom Test Certificates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-63
C Applied Standards I-65
D Technical Specifications I-73
E Safety Functions Tables I-75
E.1 Table1............................................... I-75
E.2 Table2............................................... I-78
UR5/e-Series iv Version 3.11
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II PolyScope Manual II-1
10 Safety Configuration II-3
10.1 Introduction............................................ II-3
10.2 Changing the Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-4
10.3 Safety Synchronization and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-5
10.4 Tolerances............................................. II-6
10.5 SafetyChecksum......................................... II-6
10.6 SafetyModes ........................................... II-6
10.7 FreedriveMode.......................................... II-7
10.7.1 Backdrive ........................................ II-7
10.8 PasswordLock .......................................... II-8
10.9 Apply ............................................... II-8
10.10GeneralLimits .......................................... II-9
10.11JointLimits ............................................ II-11
10.12Boundaries ............................................ II-12
10.12.1 Selecting a boundary to configure . . . . . . . . . . . . . . . . . . . . . . . . . . . II-13
10.12.23Dvisualization..................................... II-13
10.12.3 Safety plane configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-14
10.12.4 Tool Boundary configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-16
10.13SafetyI/O............................................. II-18
10.13.1InputSignals....................................... II-18
10.13.2OutputSignals ..................................... II-20
11 Begin programming II-23
11.1 Introduction............................................ II-23
11.2 GettingStarted .......................................... II-23
11.2.1 Installing the Robot Arm and Control Box . . . . . . . . . . . . . . . . . . . . . . II-24
11.2.2 Turning the Control Box On and Off . . . . . . . . . . . . . . . . . . . . . . . . . II-24
11.2.3 Turning the Robot Arm On and Off . . . . . . . . . . . . . . . . . . . . . . . . . . II-24
11.2.4 QuickStart........................................ II-25
11.2.5 TheFirstProgram.................................... II-25
11.3 PolyScope Programming Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-26
11.4 WelcomeScreen ......................................... II-28
11.5 InitializationScreen ....................................... II-29
12 On-screen Editors II-31
12.1 On-screen Expression Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-31
12.2 PoseEditorScreen ........................................ II-31
13 Robot Control II-35
13.1 MoveTab ............................................. II-35
13.1.1 Robot........................................... II-35
13.1.2 Feature and Tool Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-36
13.1.3 MoveTool ........................................ II-36
13.1.4 MoveJoints ....................................... II-36
13.1.5 Freedrive......................................... II-36
13.2 I/OTab .............................................. II-37
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vUR5/e-Series

13.3 MODBUS ............................................. II-38
13.4 AutoMoveTab .......................................... II-38
13.5 Installation →Load/Save.................................... II-40
13.6 Installation →TCPConfiguration ............................... II-41
13.6.1 Adding, renaming, modifying and removing TCPs . . . . . . . . . . . . . . . . II-41
13.6.2 ActiveTCP........................................ II-42
13.6.3 DefaultTCP ....................................... II-42
13.6.4 Teaching TCP position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-42
13.6.5 Teaching TCP orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-43
13.6.6 Payload.......................................... II-43
13.6.7 Centerofgravity .................................... II-43
13.7 Installation →Mounting .................................... II-44
13.8 Installation →I/OSetup .................................... II-45
13.8.1 I/OSignalType..................................... II-45
13.8.2 Assigning User-defined Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-45
13.8.3 I/O Actions and I/O Tab Control . . . . . . . . . . . . . . . . . . . . . . . . . . . II-46
13.9 Installation →Safety....................................... II-46
13.10 Installation →Variables..................................... II-47
13.11 Installation →MODBUS client I/O Setup . . . . . . . . . . . . . . . . . . . . . . . . . . II-48
13.12 Installation →Features ..................................... II-51
13.12.1Usingafeature ..................................... II-52
13.12.2NewPoint ........................................ II-53
13.12.3NewLine......................................... II-53
13.12.4PlaneFeature ...................................... II-54
13.12.5 Example: Manually Updating a Feature to Adjust a Program . . . . . . . . . . . II-55
13.12.6 Example: Dynamically Updating a Feature Pose . . . . . . . . . . . . . . . . . . II-56
13.13ConveyorTrackingSetup .................................... II-57
13.14 Smooth Transition Between Safety Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . II-57
13.14.1 Adjusting Acceleration/Deceleration Settings . . . . . . . . . . . . . . . . . . . II-58
13.15 Installation →DefaultProgram ................................ II-58
13.16LogTab .............................................. II-59
13.16.1 Saving Error Reports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-60
13.17LoadScreen............................................ II-60
13.18RunTab .............................................. II-63
14 Programming II-65
14.1 NewProgram........................................... II-65
14.2 ProgramTab ........................................... II-66
14.2.1 ProgramTree ...................................... II-66
14.2.2 Program Execution Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-67
14.2.3 SearchButton ...................................... II-67
14.2.4 Undo/RedoButtons .................................. II-67
14.2.5 ProgramDashboard .................................. II-68
14.3 Variables.............................................. II-68
14.4 Command:Move......................................... II-69
14.5 Command:FixedWaypoint................................... II-72
14.6 Command: Relative Waypoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-77
UR5/e-Series vi Version 3.11
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14.7 Command: Variable Waypoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-78
14.8 Command:Direction....................................... II-78
14.9 Command:Until......................................... II-79
14.10Command:Wait ......................................... II-81
14.11Command:Set .......................................... II-81
14.12Command:Popup ........................................ II-82
14.13Command:Halt ......................................... II-83
14.14Command:Comment ...................................... II-83
14.15Command:Folder ........................................ II-84
14.16Command:Loop......................................... II-84
14.17Command:If ........................................... II-85
14.18Command:SubProgram..................................... II-86
14.19Command:Assignment..................................... II-87
14.20Command:Script......................................... II-88
14.21Command:Event......................................... II-89
14.22Command:Thread........................................ II-90
14.23Command:Switch ........................................ II-90
14.23.1Timer........................................... II-91
14.24Command:Pattern........................................ II-92
14.25Command:Force......................................... II-93
14.26Command:Pallet......................................... II-96
14.27Command:Seek ......................................... II-97
14.28 Command: Conveyor Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-100
14.29Command:Suppress....................................... II-101
14.30GraphicsTab ........................................... II-101
14.31StructureTab ........................................... II-102
14.32VariablesTab ........................................... II-103
14.33 Command: Variables Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-104
15 Setup Screen II-105
15.1 LanguageandUnits ....................................... II-106
15.2 UpdateRobot........................................... II-107
15.3 SetPassword ...........................................II-108
15.4 CalibrateScreen .........................................II-109
15.5 SetupNetwork .......................................... II-109
15.6 SetTime.............................................. II-110
15.7 URCapsSetup .......................................... II-111
III EUROMAP 67 Interface III-1
16 Introduction III-3
16.1 EUROMAP67standard..................................... III-4
16.2 Statutorynotice.......................................... III-4
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vii UR5/e-Series

17 Robot and IMM integration III-5
17.1 Emergency stop and safeguard stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-5
17.2 Connecting a MAF light guard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-5
17.3 Mounting the robot and tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-6
17.4 Using the robot without an IMM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-6
17.5 EUROMAP 12 to EUROMAP 67 conversion . . . . . . . . . . . . . . . . . . . . . . . . . III-6
18 GUI III-9
18.1 EUROMAP 67 program template . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-9
18.2 I/O overview and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-10
18.2.1 Control.......................................... III-11
18.2.2 Manufacturer dependent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-12
18.2.3 Safety........................................... III-12
18.2.4 Status........................................... III-12
18.3 Program structure functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-12
18.3.1 StartupCheck ...................................... III-13
18.3.2 FreetoMould ...................................... III-13
18.3.3 WaitforItem....................................... III-14
18.3.4 EjectorForward..................................... III-15
18.3.5 EjectorBack ....................................... III-16
18.3.6 CorePullersIn...................................... III-16
18.3.7 CorePullersOut .................................... III-17
18.4 I/Oactionandwait ....................................... III-17
19 Installing and uninstalling the interface III-19
19.1 Installing ............................................. III-19
19.2 Uninstalling............................................ III-20
20 Electrical characteristics III-21
20.1 MAF light guard interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-21
20.2 Emergency stop, safety devices and MAF signals . . . . . . . . . . . . . . . . . . . . . . III-21
20.3 DigitalInputs........................................... III-22
20.4 DigitalOutputs.......................................... III-22
Glossary III-23
Index III-25
UR5/e-Series viii Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

Preface
Congratulations on the purchase of your new Universal Robots robot, UR5.
The robot can be programmed to move a tool, and communicate with other machines using
electrical signals. It is an arm composed of extruded aluminium tubes and joints.
Using our patented programming interface, PolyScope, it is easy to program the robot to move
the tool along a desired trajectory.
What Do the Boxes Contain
When you order a robot, you receive two boxes. One contains the Robot Arm, the other contains:
• Control Box with Teach Pendant
• Mounting bracket for the Control Box
• Mounting bracket for the Teach Pendant
• Key for opening the Control Box
• Mains cable or Power cable compatible to your region
• EUROMAP 67 cable
• Stylus pen with laser
• This manual
Important Safety Notice
The robot is partly completed machinery (see 8.4) and as such a risk assessment is required
for each installation of the robot. You must follow all of the safety instructions in chapter 1.
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ix UR5/e-Series

Where to Find More Information
How to Read This Manual
This manual contains instructions for installing and programming the robot. The manual is
separated into two parts:
Hardware Installation Manual: The mechanical and electrical installation of the robot.
PolyScope Manual: Programming of the robot.
EUROMAP 67 Interface: Using the EUROMAP 67 interface.
This manual is intended for the robot integrator who must have a basic level of mechanical and
electrical training, as well as be familiar with elementary programming concepts.
Where to Find More Information
The support website (http://www.universal-robots.com/support) contains the fol-
lowing:
• Other language versions of this manual
•PolyScope Manual
• The Service Manual with instructions for troubleshooting, maintenance and repair
• The Script Manual for advanced users
UR+
The UR+ site (http://www.universal-robots.com/plus/) is an online showroom that
provides cutting-edge products to customize your UR robot application. You can find every-
thing you need in one place—from end-effectors and accessories to vision cameras and software.
All products are tested and approved to integrate with UR robots, ensuring simple set-up, reli-
able operation, smooth user experience, and easy programming. You can also use the site to join
the UR+ Developer Program to access our new software platform which allows you to design
more user-friendly products for UR robots.
UR5/e-Series xVersion 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.

Part I
Hardware Installation Manual

1 Safety
1.1 Introduction
This chapter contains important safety information, which must be read and understood by the
integrator of UR robots before the robot is powered on for the first time.
In this chapter, the first subsections are general. The later subsections contain specific engineer-
ing data relevant to enable setting up and programming the robot. Chapter 2 describes and
defines safety-related functions particularly relevant for collaborative applications.
Instructions and guidance provided in chapter 2 as well as in section 1.7 are particularly
important.
It is essential to observe and follow all assembly instructions and guidance provided in other
chapters and parts of this manual.
Special attention shall be paid to text associated with warning symbols.
NOTE:
Universal Robots disclaims any and all liability if the robot (arm
control box and/or teach pendant) is damaged, changed or mod-
ified in any way. Universal Robots cannot be held responsible for
any damages caused to the robot or any other equipment due to
programming errors or malfunctioning of the robot.
1.2 Validity and Responsibility
The information in this manual does not cover designing, installing and operating a complete
robot application, nor does it cover all peripheral equipment that can influence the safety of the
complete system. The complete system must be designed and installed in accordance with the
safety requirements set forth in the standards and regulations of the country where the robot is
installed.
The integrators of UR robots are responsible for ensuring that the applicable safety laws and
regulations in the country concerned are observed and that any significant hazards in the com-
plete robot application are eliminated.
This includes, but is not limited to:
• Performing a risk assessment for the complete robot system
• Interfacing other machines and additional safety devices if defined by the risk assessment
• Setting up the appropriate safety settings in the software
• Ensuring that the user will not modify any safety measures
• Validating that the total robot system is designed and installed correctly
• Specifying instructions for use
• Marking the robot installation with relevant signs and contact information of the integrator
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I-3 UR5/e-Series

1.4 Warning Symbols in this Manual
• Collecting all documentation in a technical file; including the risk assessment and this
manual
1.3 Limitation of Liability
Any safety information provided in this manual must not be construed as a warranty, by UR,
that the industrial manipulator will not cause injury or damage, even if industrial manipulator
complies with all safety instructions.
1.4 Warning Symbols in this Manual
The symbols below define the captions specifying the danger levels used throughout this man-
ual. The same warning signs are used on the product.
DANGER:
This indicates an imminently hazardous electrical situation which,
if not avoided, could result in death or serious injury.
DANGER:
This indicates an imminently hazardous situation which, if not
avoided, could result in death or serious injury.
WARNING:
This indicates a potentially hazardous electrical situation which, if
not avoided, could result in injury or major damage to the equip-
ment.
WARNING:
This indicates a potentially hazardous situation which, if not
avoided, could result in injury or major damage to the equipment.
WARNING:
This indicates a potentially hazardous hot surface which, if
touched, could result in injury.
CAUTION:
This indicates a situation which, if not avoided, could result in
damage to the equipment.
UR5/e-Series I-4 Version 3.11
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1.5 General Warnings and Cautions
1.5 General Warnings and Cautions
This section contains some general warnings and cautions that can be repeated or explained in
different parts of this manual. Other warnings and cautions are present throughout this manual.
DANGER:
You must install the robot and all electrical equipment according
to the specifications and warnings found in chapters 4 and 5.
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I-5 UR5/e-Series

1.5 General Warnings and Cautions
WARNING:
1. Make sure the robot arm and tool/end effector are properly
and securely bolted in place.
2. Make sure the robot arm has ample space to operate freely.
3. Make sure that safety measures and/or robot safety configu-
ration parameters have been set up to protect both program-
mers, operators and bystanders, as defined in the risk assess-
ment.
4. Do not wear loose clothing or jewellery when working with
the robot. Make sure long hair is tied back when working
with the robot.
5. Never use the robot if it is damaged. For example, if joint caps
are loose, broken or removed.
6. If the software prompts an error, immediately press emer-
gency stop, write down the conditions that led to the error,
find the corresponding error codes on the log screen, and con-
tact your supplier.
7. Do not connect any safety equipment to standard I/O. Use
safety-related I/O only.
8. Make sure to use the correct installation settings (e.g. Robot
mounting angle, mass in TCP, TCP offset, safety configura-
tion). Save and load the installations file along with the pro-
gram.
9. The freedrive function (Impedance/Backdrive) shall only be
used in installations where the risk assessment allows it.
Tool/end effectors and obstacles shall not have sharp edges
or pinch points.
10. Make sure to warn people to keep their heads and faces out-
side the reach of the operating robot or robot about to start
operating.
11. Be aware of robot movement when using the teach pendant.
12. If determined by the risk assessment, do not enter the safety
range of the robot or touch the robot when the system is in
operation.
UR5/e-Series I-6 Version 3.11
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1.5 General Warnings and Cautions
13. Collisions can release high levels of kinetic energy, which are
significantly higher at high speeds and with high payloads.
(Kinetic Energy = 1
2Mass ·Speed2)
14. Combining different machines can increase hazards or create
new hazards. Always make an overall risk assessment for
the complete installation. Depending on the assessed risk,
different levels of functional safety can apply; as such, when
different safety and emergency stop performance levels are
needed, always choose the highest performance level. Al-
ways read and understand the manuals for all equipment
used in the installation.
15. Never modify the robot. A modification might create hazards
that are unforeseen by the integrator. All authorized reassem-
bling shall be done according to the newest version of all rel-
evant service manuals.
16. If the robot is purchased with an extra module (e.g. eu-
romap67 interface) then look up that module in the respective
manual.
WARNING:
1. The robot and its controller box generate heat during opera-
tion. Do not handle or touch the robot while in operation or
immediately after operation as prolonged contact can cause
discomfort. To cool the robot down, power off the robot and
wait one hour.
2. Never stick fingers behind the internal cover of the controller
box.
CAUTION:
1. When the robot is combined, or working, with machines ca-
pable of damaging the robot, it is highly recommended to test
all functions and the robot program separately. It is also rec-
ommended to test the robot program using temporary way-
points outside the workspace of other machines.
2. Do not expose the robot to permanent magnetic fields. Very
strong magnetic fields can damage the robot.
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I-7 UR5/e-Series

1.7 Risk Assessment
1.6 Intended Use
UR robots are industrial robots intended to handle tools/end effectors and fixtures, or to pro-
cess or transfer components or products. For details about the environmental conditions under
which the robot should operate, see appendices B and D.
UR robots are equipped with special safety-related features, which are purposely designed to
enable collaborative operation, where the robot system operates without fences and/or together
with a human.
Collaborative operation is only intended for non-hazardous applications, where the complete
application, including tool/end effector, work piece, obstacles and other machines, is without
any significant hazards according to the risk assessment of the specific application.
Any use or application deviating from intended use is deemed to be impermissible misuse. This
includes, but is not limited to:
• Use in potentially explosive environments
• Use in medical and life critical applications
• Use before performing a risk assessment
• Use outside of stated specifications
• Use as a climbing aid
• Operation outside the permissible operating parameters
1.7 Risk Assessment
One of the most important things that an integrator needs to do is to perform a risk assessment.
In many countries this is required by law. The robot itself is partly completed machinery, as the
safety of the robot installation depends on how the robot is integrated (E.g. tool/end effector,
obstacles and other machines).
It is recommended that the integrator uses ISO 12100 and ISO 10218-2 to conduct the risk assess-
ment. Additionally the integrator can choose to use the Technical Specification ISO/TS 15066 as
additional guidance.
The risk assessment that the integrator conducts shall consider all work tasks throughout the
lifetime of the robot application, including but not limited to:
• Teaching the robot during set-up and development of the robot installation
• Troubleshooting and maintenance
• Normal operation of the robot installation
A risk assessment must be conducted before the robot arm is powered on for the first time. A
part of the risk assessment conducted by the integrator is to identify the proper safety configura-
tion settings, as well as the need for additional emergency stop buttons and/or other protective
measures required for the specific robot application.
Identifying the correct safety configuration settings is a particularly important part of develop-
ing collaborative robot applications. See chapter 2 and part II for detailed information.
UR5/e-Series I-8 Version 3.11
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