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TUV
NORD
Safety Function
Certified
SF
UR Robot Not
SF13
stopping:
Digital Output
UR Robot
SF14
Reduced Mode:
Digital Output
UR Robot Not
SF15
Reduced Mode:
Digital Output
TUV
NORD
Safety Function
Certified
SF
Robot
Reduced Mode
Reduced
INPUT
Mode
Safeguard
Safeguard Reset
Reset
INPUT
3 Position
Enabling
Enabling Device
Device
INPUT
Mode
Mode switch
Selection
INPUT
UR5
Limits or
USER
Stop Category
configuration
per IEC 60204-1
or Factory
Setting
Output & I/O
Cat 0
Configuration
Output & I/O
Cat 0 if fault
Configuration
detected
Cat 0
Output & I/O
(immediate
Configuration
stop)
Limits or
USER
Stop Category
configuration
per IEC 60204-1
or Factory
Setting
Input & I/O
Cat2
Configuration
Input & I/O
Cat2
Configuration
Input & I/O
Cat2
Configuration
Input & I/O
Cat2
Configuration
86
IEC 61800-5-2
Stop: power to
final switching
PLd
devices
Cat
retained for
Category 2 stop
NA
2
NA
2
NA
2
IEC 61800-5-2
Stop: power to
final switching
PLd
devices
Cat
retained for
Category 2 stop
SS2
2
SS2
2
SS2
2
SS2
2
Benutzerhandbuch
PFHd
UR
3/5/10
3.15E-
07
3.15E-
07
3.15E-
07
PFHd
UR
3/5/10
3.15E-
07
3.15E-
07
3.15E-
07
3.15E-
07
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