Universal Robots UR3 Manuel Utilisateur page 90

Safety
SF#
Function
Emergency
Stop There
are two
SF0 and
separate
SF1
Emergency
Internal
Stop
safety
functions
Safeguard
SF2
Logic and
stop
outputs (Protective
INTERNAL
Stop)
Joint
Position
SF3
Limit (soft
Internal
axis
limiting)
UR3
Pressing the Estop PB on the pendant1 or the External
Estop (if using the Estop Safety Input configured for
Estop) results in both a Cat 0 and a Cat 1 stop according
to IEC 60204-1 (NFPA79) . These are SF0 and SF1
respectively. SF0: 524ms timer setting in each safety
controller's microprocessor. At the end of the 524ms, Cat
0 stop3 (IEC 60204-1) is initiated by each microprocessor.
SF1: Command1 all joints to stop and upon all joints
coming to a standstill state, power is removed. This is a
Cat 1 stop per IEC 60204-1. The stopping times of the SF0
and SF1 Estop safety functions differ.
• SFO has a functional safety rating of PLd Cat3 with
the worst-case stopping time, as if all joint
monitoring failed at the same time and after
524ms, then power is immediately removed while
the robot is going the maximum speed. This could
result in a worst case stopping time of 1250ms.
• SF1 has a functional safety rating of PLd Cat2 with
a reliable and realistic maximum stop time of
approximately 300ms for UR3 and 400ms for
UR5/UR10. See the User Manual for specific
information. The application stop time can be
reduced depending on the application's safety
limits (SF3, 4, 6, 7, 8, 9) settings and the use of the
stop time information provided in the manual.
This safety function is initiated by an external protective
device using safety inputs which will initiate a Cat 2 stop
per IEC 60204-1. For the functional safety rating of the
complete integrated safety function, add the PFHd of the
external protective device to the PFHd of SF2. If a PLd
Cat3 stop is needed for protective devices, connect the
protective device and configure the input as if it were an
external Estop input (See SF0).
Exceeding the joint position limit results in a Cat 0 stop
(IEC 60204-1). Each joint can have its own limit. Directly
limits the set of allowed joint positions that the joints can
move to. It is set directly in the safety setup part of the UI
where you can enter values. It is a means of safety-rated
soft axis limiting and space limiting, according to ISO
10218-1:2011, 5.12.3.
Description
82
What is
controlled?
Robot Arm
Robot Arm
Joint
(each)
Manuel utilisateur