Universal Robots UR3 Manual De Usuario página 90

Safety
SF#
Function
SF11
Internal
as a UR Robot
function
Estop
with
Output
dual
outputs
SF12
Internal
UR Robot
as a
Moving:
function
Digital
with
Output
dual
outputs
SF13
Internal
UR Robot
as a Not
function
stopping:
with Digital
dual
Output
outputs
SF14
Internal
UR Robot
as a Reduced
function
Mode:
with Digital
dual
Output
outputs
SF15
UR Robot
Internal
Not
as a
Reduced
function
Mode:
with
Digital
dual
Output
outputs
UR3
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.
Whenever the robot is NOT in reduced mode, the dual digital
outputs are LOW. 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
82
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
External
connection
to logic
and/or
equipment
Manual de usuario