Universal Robots E Series Original Instructions

16.Safety Functions Tables
16.1. Table 1
NOTE
The Safety Functions tables presented in this chapter are simplified. You can find
the comprehensive versions of them here: https://www.universal-
robots.com/support
Universal Robots e-Series Safety Functions and Safety I/O are PLd, Category 3 (ISO 13849-1), with
certification by TŰV NORD (certificate # 44 207 14097610).
Safety Function (SF) Descriptions (see Chapter 2 of manual: For safety I/O, the resulting safety
function including the external device or equipment is determined by the overall architecture and
the sum of all PFHds, including the UR robot safety function PFHd. All safety functions are
individual safety functions.
WARNING
If any safety function limit is exceeded, or a fault is detected in a safety function or
safety-related part of the control system, the result is a Category 0 stop (immediate
removal of power) according to IEC 60204-1.
SF# and
Safety
Function
Description What happens? Tole-
rance
PFHd Affects
SF1
1,2,3,4
Emergency
Stop
(according
to ISO
13850)
Pressing the Estop PB on the
pendant1 or the External Estop
(if using the Estop Safety Input)
results in a Cat 1 stop with power
removed from the robot
actuators and the tool I/O.
Command1 all joints to stop and
upon all joints coming to a
monitored standstill state, power
is removed. See Stop Time and
Stop Distance Safety Functions.
ONLY USE FOR EMERGENCY
PURPOSES, not safeguarding.
Category 1 stop
(IEC 60204-1)
- 1.30E-
07
Robot
including
robot tool
I/O
User Manual 85 UR5e
16.Safety Functions Tables
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Universal Robots E Series Specifications

General

Brand	Universal Robots
Model	E Series
Category	Robotics
Language	English