Universal Robots CB Series Hardware Manual

SF# and
Safety
Function
Description PFHd Affects
SF10
UR Robot
Estop
Output
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 are tolerated. For the integrated functional
safety rating with an external Estop device, add the
PFHd of the UR Estop function (SF0 or SF1) to the PFHd
of the external logic (if any) and its components (e.g.
Estop pushbutton). For the Estop Output, validation is
performed at the external equipment, as the UR output is
an input to this external equipment.
4.70E-08 External
connection
to logic
and/or
equipment
SF11
UR Robot
Moving:
Digital
Output
Whenever the robot is moving (motion underway), the
dual digital outputs are LOW. Outputs are HIGH when no
movement. The functional safety rating is for what is
within the UR robot. The integrated functional safety
performance requires adding this PFHd to the PFHd of
the external logic (if any) and its components.
1.20E-07 External
connection
to logic
and/or
equipment
SF12
UR Robot
Not
stopping:
Digital
Output
When the robot is STOPPING (in process of stopping or
in a stand-still condition) the dual digital outputs are
HIGH. When outputs are LOW, robot is NOT in the
process or stopping and NOT in a stand-still condition.
The functional safety rating is for what is within the UR
robot. The integrated functional safety performance
requires adding this PFHd to the PFHd of the external
logic (if any) and its components.
1.20E-07 External
connection
to logic
and/or
equipment
SF13
UR Robot
Reduced
Mode:
Digital
Output
When the robot is in reduced mode (or reduced mode is
initiated), the dual digital outputs are LOW. See below.
The functional safety rating is for what is within the UR
robot. The integrated functional safety performance
requires adding this PFHd to the PFHd of the external
logic (if any) and its components.
1.20E-07 External
connection
to logic &/or
equipment
SF14
UR Robot
Not
Reduced
Mode:
Digital
Output
Whenever the robot is NOT in reduced mode (or the
reduced mode is not initiated), the dual digital outputs
are LOW. The functional safety rating is for what is
within the UR robot. The integrated functional safety
performance requires adding this PFHd to the PFHd of
the external logic (if any) and its components.
1.20E-07 External
connection
to logic &/or
equipment
Hardware Manual 93 UR5e
15.Safety Functions Tables
Copyright © 2009–2022 by UniversalRobotsA/S. All rights reserved.

Universal Robots CB Series Specifications

General

Brand	Universal Robots
Model	CB Series
Category	Robotics
Language	English