Universal Robots e Serie Manual De Usuario página 98

SF# and
Safety
Function
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
SF10 but they are tolerated. For the integrated functional safety
UR Robot
rating with an external Estop device, add the PFHd of the UR
Estop
Estop function (SF0 or SF1) to the PFHd of the external
Output
logic (if any) and its components (e.g. Estop pushbutton).
For the Estop Output, validation is performed at the external
equipment, as the UR output is an input to this external
equipment.
Whenever the robot is moving (motion underway), the dual
SF11
digital outputs are LOW. Outputs are HIGH when no
UR Robot
movement. The functional safety rating is for what is within
Moving:
the UR robot. The integrated functional safety performance
Digital
requires adding this PFHd to the PFHd of the external logic
Output
(if any) and its components.
Whenever the robot is STOPPING (in process of stopping or
SF12 in a stand-still condition) the dual digital outputs are HIGH.
UR Robot
When outputs are LOW, robot is NOT in the process or
Not
stopping and NOT in a stand-still condition. The functional
stopping:
safety rating is for what is within the UR robot. The
Digital integrated functional safety performance requires adding
Output
this PFHd to the PFHd of the external logic (if any) and its
components.
SF13 Whenever the robot is in reduced mode (or reduced mode is
UR Robot
initiated), the dual digital outputs are LOW. See below. The
Reduced functional safety rating is for what is within the UR robot.
Mode:
The integrated functional safety performance requires
Digital adding this PFHd to the PFHd of the external logic (if any)
Output
and its components.
SF14
Whenever the robot is NOT in reduced mode (or the reduced
UR Robot
mode is not initiated), the dual digital outputs are LOW. The
Not
functional safety rating is for what is within the UR robot.
Reduced
The integrated functional safety performance requires
Mode:
adding this PFHd to the PFHd of the external logic (if any)
Digital
and its components.
Output
UR10e
Description
86
16. Tablas de funciones de seguridad
PFHd
External
connection
4.70E-08 to logic
and/or
equipment
External
connection
1.20E-07 to logic
and/or
equipment
External
connection
1.20E-07 to logic
and/or
equipment
External
connection
1.20E-07 to logic
&/or
equipment
External
connection
1.20E-07 to logic
&/or
equipment
Manual de usuario
Affects