Universal Robots UR3 Manual De Usuario página 93

TUV
NORD
Safety Function
Certified
SF
SF9 Momentum Limit
SF10 Power Limit
UR RINPUTobot
SF11
Estop Output
UR Robot
SF12
Moving:
Digital Output
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
Manual de usuario
Limits or
USER
Stop Category
configuration
per IEC 60204-1
or Factory
Setting
Limits
Limits
Output & I/O
See Estop SF1
Configuration
Output & I/O
Configuration
Output & I/O
Configuration
Output & I/O Cat 0 if fault
Configuration detected
Output & I/O
(immediate
Configuration
Limits or
USER
Stop Category
configuration
per IEC 60204-1
or Factory
Setting
Input & I/O
Configuration
Input & I/O
Configuration
Input & I/O
Configuration
Input & I/O
Configuration
85
IEC 61800-5-2
Stop: power to
final switching
devices
retained for
Category 2 stop
Cat 0 NA
Cat 0 NA
See Estop SF1
Cat 0 NA
Cat 0 NA
NA
Cat 0
NA
stop)
IEC 61800-5-2
Stop: power to
final switching
devices
retained for
Category 2 stop
Cat2 SS2
Cat2 SS2
Cat2 SS2
Cat2 SS2
PFHd
PLd
UR
Cat
3/5/10
3.15E-
2
07
3.15E-
2
07
4.41E-
2
08
3.15E-
2
07
3.15E-
2
07
3.15E-
2
07
3.15E-
2
07
PFHd
PLd
UR
Cat
3/5/10
3.15E-
2
07
3.15E-
2
07
3.15E-
2
07
3.15E-
2
07
UR3