Universal Robots UR5 Manuel Utilisateur page 93

TUV
NORD Safety
Certified
Function
SF
External
Enabling
Enabling Device as
Device input to
UR Robot
logic
External
Mode
Switch
using
Mode dual
Selection Inputs (1
through
4) and
internal
logic
1.19. Table 2: Compliance and ISO 13849-1 Functional
Safety Information
TUV
NORD
Safety Function
Certified
SF
Emergency Stop
There are two
separate
SF0
Emergency Stop
safety functions:
SF0 and SF1
Manuel utilisateur
When the external Enabling Device connections are Low, a
Safeguard Stop (SF2) is initiated. Recommendation: Use
with a mode switch as a safety input. If a mode switch is
not used and connected to the safety inputs, then the robot
mode will be determined by the User Interface. If the User
Interface is in:
• "run mode", the enabling device will not be active.
• "programming mode", the enabling device will be
active. It is possible to use password protection for
changing the mode by the User Interface.
When the external connections are Low, Operation Mode
(running) is in effect. When High, the mode is programming
or teach. Must be used with an Enabling Device as a safety
input. When in Teach/Program (Mode switch inputs high),
enabling device is required for operation. When in
teach/program, initially the TCP speed will be limited to
250mm/s. The speed can manually be increased by using
the pendant user interface "speed-slider", but upon
activation of the enabling device, the speed limitation will
reset to 250mm/s.
Limits or
USER
configuration
or Factory
Setting
No
Description
IEC 61800-5-2
Stop: power to
final switching
Stop Category
per IEC 60204-1
retained for
Category 2
Cat 1 Stop
524ms time-
delay before Cat
0 stop is
initiated
85
What is
controlled?
Robot
Robot
PLd PFHd UR
devices
Cat
stop
NA 3
3/5/10
4.38E-8
UR5