Tablas De Funciones De Seguridad; Table - Universal Robots e Serie Manual De Usuario

16. Tablas de funciones de seguridad

16.1. Table 1

NOTA
Las tablas de funciones de seguridad que se muestran en este capítulo están
simplificadas. Puede encontrar sus versiones completas aquí:
https://www.universal-robots.com/support
Universal Robots e-Series Safety Functions and Safety I/O are PLd, Category 3 (ISO 13849-1),
with certification by TŰV NORD (certificate # 44 207 14097610).
Safety Function (SF) Descriptions (see Chapter 2 of manual: For safety I/O, the resulting safety
function including the external device or equipment is determined by the overall architecture and
the sum of all PFHds, including the UR robot safety function PFHd. All safety functions are
individual safety functions.
ADVERTENCIA
If any safety function limit is exceeded, or a fault is detected in a safety function
or safety-related part of the control system, the result is a Category 0 stop
(immediate removal of power) according to IEC 60204-1.
SF# and
Safety
Function
Pressing the Estop PB on the
pendant1 or the External Estop (if
using the Estop Safety Input)
results in a Cat 1 stop with power
SF1
1,2,3,4
removed from the robot actuators
Emergency and the tool I/O. Command1 all
Stop
joints to stop and upon all joints
(according coming to a monitored standstill
to ISO
state, power is removed. See Stop
13850) Time and Stop Distance Safety
Functions. ONLY USE FOR
EMERGENCY PURPOSES, not
safeguarding.
UR10e
Description
16. Tablas de funciones de seguridad
What happens?
Category 1 stop
(IEC 60204-1)
82
Tole-
PFHd Affects
rance
Robot
1.30E- including
-
07 robot
tool I/O
Manual de usuario