Universal Robots e Série Traduction Des Instructions D'origine page 106

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 but
SF10
they are tolerated. For the integrated functional safety rating with
UR
an external Estop device, add the PFHd of the UR Estop
Robot
function (SF0 or SF1) to the PFHd of the external logic (if any)
Estop
and its components (e.g. Estop pushbutton).
Output
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
UR
digital outputs are LOW. Outputs are HIGH when no movement.
Robot The functional safety rating is for what is within the UR robot.
Moving:
The integrated functional safety performance requires adding
Digital
this PFHd to the PFHd of the external logic (if any) and its
Output
components.
SF12 Whenever the robot is STOPPING (in process of stopping or in a
UR stand-still condition) the dual digital outputs are HIGH. When
Robot
outputs are LOW, robot is NOT in the process or stopping and
Not
NOT in a stand-still condition. The functional safety rating is for
stopping:
what is within the UR robot. The integrated functional safety
Digital
performance requires adding this PFHd to the PFHd of the
Output external logic (if any) and its components.
SF13
Whenever the robot is in reduced mode (or reduced mode is
UR
initiated), the dual digital outputs are LOW. See below. The
Robot
functional safety rating is for what is within the UR robot. The
Reduced
integrated functional safety performance requires adding this
Mode:
PFHd to the PFHd of the external logic (if any) and its
Digital
components.
Output
SF14
UR
Whenever the robot is NOT in reduced mode (or the reduced
Robot
mode is not initiated), the dual digital outputs are LOW. The
Not
functional safety rating is for what is within the UR robot. The
Reduced integrated functional safety performance requires adding this
Mode:
PFHd to the PFHd of the external logic (if any) and its
Digital components.
Output
UR16e
Description
92
17. Tableaux des fonctions de sécurité
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
Manuel utilisateur
Affects