EN UG-020 Link 6 user guide r1.0 62
Table 42: SF04 trigger and action timeline
Monitor frequency of trigger 0.01 s
Trigger The speed of at least one joint is faster than the configured limit.
Trigger results
• Stop category 2 is deployed.
• The operating mode is Monitored Stop.
• The arm is in the state Fault power on.
Reset conditions The speed of the joints are corrected to be within operational limits.
Reset Tap CLEAR FAULT.
Reset result Normal conditions lead to two results.
• The operating mode is Monitored Stop.
• The arm does not move.
Failsafe SF04 can experience processing errors. In this case, stop category 0
is deployed.
Figure 45: Timeline for SF04 before and after being triggered
Related topics
State timeline for the safety output Normal Speed Mode on page 85
SF05 Monitored stop timeline
Each safety function enters one of two states during operations; it depends on the current state
of the arm and the current mode of operation.
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