universal robots UR3/CB3 Benutzerhandbuch Seite 97

TUV
NORD
Safety Function
Certified
SF
Joint Position
SF3 Limit (soft axis
limiting)
Joint Speed
SF4
Limit
Joint Torque
SF5 Limit internal
factory setting
SF6 TCP Pose Limit
TCP Speed
SF7
Limit
TUV
NORD
Safety Function
Certified
SF
SF8 TCP Force Limit
SF9 Momentum Limit
SF10 Power Limit
UR RINPUTobot
SF11
Estop Output
UR Robot
SF12
Moving:
Digital Output
UR Robot Not
SF13
stopping:
Digital Output
Benutzerhandbuch
Limits or
USER Stop Category
configuration per IEC
or Factory 60204-1
Setting
Limits Cat 0
Limits Cat 0
factory setting Cat 0
Limits Cat 0
Limits Cat 0
Limits or
USER Stop Category
configuration per IEC
or Factory 60204-1
Setting
Limits
Limits
Limits
Output & I/O
See Estop SF1
Configuration
Output & I/O
Configuration
Output & I/O
Configuration
87
IEC 61800-5-
2 Stop: power
to final
switching
devices
retained for
Category 2
stop
NA
NA
NA
NA
NA
IEC 61800-5-
2 Stop: power
to final
switching
devices
retained for
Category 2
stop
Cat 0 NA
Cat 0 NA
Cat 0 NA
See Estop
SF1
Cat 0 NA
Cat 0 NA
PFHd
PLd
UR
Cat
3/5/10
2 3.15E-07
2 3.15E-07
2 3.15E-07
2 3.15E-07
2 3.15E-07
PFHd
PLd
UR
Cat
3/5/10
3.15E-
2
07
3.15E-
2
07
3.15E-
2
07
4.41E-
2
08
3.15E-
2
07
3.15E-
2
07
UR3