Table 2

Description

UR robots comply with ISO 10218-1:2011 and the applicable portions of ISO/TS 15066. It is important to understand that most of ISO/TS 15066 is directed towards the integrator and not the robot manufacturer. ISO 10218-1:2011, clause 5.10 ] details 4 collaborative ] techniques as explained below. It is important to note this is the APPLICATION when in AUTOMATIC mode.

Collaborative Operation*

2011 edition, clause 5.10.2

*ISO 10218:2025 removed the term “collaborative operation”
Technique Explanation UR e-Series and UR series Robots
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.

NOTE: ISO 10218-2:2025 changed this term to be a Stop Category 2 followed by a monitored-standstill safety function.

UR robots’ safeguard stop is a safety-rated monitored stop.

In ISO 10218-1:2025, the term “safety-rated monitored stop” was eliminated. There are only 3 “capabilities for collaborative application: hand-guided controls (HGC), speed and separation monitoring (SSM) and power and force limiting (PFL).

 

Collaborative Operation

2011 edition, clause 5.10.3

*ISO 10218:2025 removed the term “collaborative operation”
Technique Explanation UR e-Series
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; and

– a 3-position enabling device; and

– a safety-rated monitored stop function; and

– a settable safety-rated monitored speed function.

See ISO 10218-2:2025, 5.14, for requirements including use of hold-to-run or 3-position enabling.

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.

Collaborative Operation*

2011 edition, clause 5.10.4

*ISO 10218:2025 removed the term “collaborative operation”
Technique Explanation UR e-Series
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 2b restarting operation after a safety -rated monitored stop, see ISO 10218-2:2011 and ISO/TS 15066 or ISO 10218-2:2025, 5.14, Annex M, and Annex N.

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.

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.

 

Collaborative Operation*

2011 edition, clause 5.10.5

*ISO 10218:2025 removed the term “collaborative operation”
Technique Explanation UR e-Series
Power and force limiting (PFL)

How to accomplish PFL is left to the robot manufacturer. The robot design and/or safety functions will limit the energy transfer from the robot to a person. If a parameter limit is exceeded, a stop happens.

PFL applications require considering the ROBOT APPLICATION (including the end-effector and workpiece(s), so that any contact will not cause injury. The study performed evaluated pressures to the ONSET of pain, not injury.

See Annex A. See ISO/TR 20218-1 End-effectors OR ISO 10218-2:2025, 5.9.

UR robots are power and force limiting robots specifically designed to enable collaborative applications and to be used for any industrial robot application.

UR robots have safety functions that can be used to limit motion, speed, momentum, force, power and more of the robot.

These safety functions are used in the robot application to lessen pressures and forces caused by the end-effector and workpiece(s) upon impact.