Table - Universal Robots e Serie Manual De Usuario

17. Table 2
17. 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.
# ISO 10218-1
Collaborative
Operation
1
2011 edition,
clause 5.10.2
Collaborative
Operation
2
2011 edition,
clause 5.10.3
Manual de usuario
Technique
Stop condition where position is
held at a standstill and is
monitored as a safety function.
Category 2 stop is permitted to
Safety-rated
auto reset. In the case of resetting
monitored
and restarting operation after a
stop
safety -rated monitored stop, see
ISO 10218-2 and ISO/TS 15066 as
resumption shall not cause
hazardous conditions.
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:
Hand-
• an Emergency Stop
guiding
pushbutton
• a 3-position enabling device
• a safety-rated monitored
stop function
• a settable safety-rated
monitored speed function
Explanation
89
UR e-Series
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.
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.
UR10e