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Safety
SF#
Function
Power
SF10
Internal
Limit
Safety
SF#
Function
SF11
Internal
UR Robot
as a
Estop
function
Output
with dual
outputs
SF12
Internal
UR Robot
as a
Moving:
function
Digital
with dual
Output
outputs
SF13
UR Robot
Internal
Not
as a
stopping:
function
Digital
with dual
Output
outputs
SF14
UR Robot
Internal
Reduced
as a
Mode:
function
Digital
with dual
Output
outputs
UR3
Exceeding the power limit results in a Cat 0 stop5 (IEC
60204-1). This function monitors the mechanical work (sum
of joint torques times joint angular speeds) performed by
the robot, which also affects the current to the robot arm as
well as the speed of the robot arm. This function
dynamically limits the current/torque but maintain the
speed.
When configured for Estop output and there is an Estop
condition (see SF1), the dual outputs are LOW. If there is
no Estop condition, dual outputs are high. Pulses are not
used but they are tolerated. For the integrated functional
safety rating with an external Estop device, add the PFHd
of the UR Estop function (SF0 or SF1) to the PFHd of the
external logic (if any) and its components (e.g. Estop
pushbutton).
Whenever the robot is moving (motion underway), the dual
digital outputs are LOW. Outputs are HIGH when no
movement. The functional safety rating is for what is within
the UR robot. The integrated functional safety performance
requires adding this PFHd to the PFHd of the external logic
(if any) and its components.
Whenever the robot is STOPPING (in process of stopping
or in a stand-still condition) the dual digital outputs are
HIGH. When outputs are LOW, robot is NOT in the process
or stopping and NOT in a stand-still condition. The
functional safety rating is for what is within the UR robot.
The integrated functional safety performance requires
adding this PFHd to the PFHd of the external logic (if any)
and its components.
Whenever the robot is in reduced mode, the dual digital
outputs are LOW. See Robot Reduced Mode below. The
functional safety rating is for what is within the UR robot.
The integrated functional safety performance requires
adding this PFHd to the PFHd of the external logic (if any)
and its components.
Description
Description
84
What is
controlled?
Robot Arm
What is
controlled?
External
connection
to logic
and/or
equipment
External
connection
to logic
and/or
equipment
External
connection
to logic
and/or
equipment
External
connection
to logic
and/or
equipment
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