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 they 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
Whenever 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
Whenever 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
UR5e 90 User Manual
16.Safety Functions Tables
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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