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Safety
SF#
Function
Emergency
Stop There
are two
SF0 and
separate
SF1
Internal
Emergency
Stop safety
functions
Safeguard
SF2
Logic and
stop
outputs
(Protective
INTERNAL
Stop)
UR3
Description
Pressing the Estop PB on the pendant1 or the
External Estop (if using the Estop Safety Input
configured for Estop) results in both a Cat 0 and a Cat
1 stop according to IEC 60204-1 (NFPA79) . These
are SF0 and SF1 respectively. SF0: 524ms timer
setting in each safety controller's microprocessor. At
the end of the 524ms, Cat 0 stop3 (IEC 60204-1) is
initiated by each microprocessor. SF1: Command1 all
joints to stop and upon all joints coming to a standstill
state, power is removed. This is a Cat 1 stop per IEC
60204-1. The stopping times of the SF0 and SF1
Estop safety functions differ.
• SFO has a functional safety rating of PLd Cat3
with the worst-case stopping time, as if all joint
monitoring failed at the same time and after
524ms, then power is immediately removed
while the robot is going the maximum speed.
This could result in a worst case stopping time
of 1250ms.
• SF1 has a functional safety rating of PLd Cat2
with a reliable and realistic maximum stop time
of approximately 300ms for UR3 and 400ms for
UR5/UR10. See the User Manual for specific
information. The application stop time can be
reduced depending on the application's safety
limits (SF3, 4, 6, 7, 8, 9) settings and the use of
the stop time information provided in the
manual.
This safety function is initiated by an external
protective device using safety inputs which will initiate
a Cat 2 stop per IEC 60204-1. For the functional
safety rating of the complete integrated safety
function, add the PFHd of the external protective
device to the PFHd of SF2. If a PLd Cat3 stop is
needed for protective devices, connect the protective
device and configure the input as if it were an external
Estop input (See SF0).
82
What is
controlled?
Robot Arm
Robot Arm
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