26.Glossary
Stop Category 0
Robot motion is stopped by immediate removal of power to the robot. It is an uncontrolled stop, where the
robot can deviate from the programmed path as each joint brake as fast as possible. This robot stop is
used if a safety-related limit is exceeded or in case of a fault in the safety-related parts of the control
system. For more information, see ISO13850 or IEC60204-1.
Stop Category 1
Robot motion is stopped with power available to the robot to achieve the stop and then removal of power
when the stop is achieved. It is a controlled stop, where the robot will continue along the programmed
path. Power is removed as soon as the robot stands still. For more information, see ISO13850 or
IEC60204-1.
Stop Category 2
A controlled stop with power left available to the robot. The safety-related control system monitors that the
robot stays at the stop position. For more information, see IEC60204-1.
Category 3
The term
Category
should not be confused with the term
Stop Category
.
Category
refers to the type of
architecture used as basis for a certain
Performance Level
. A significant property of a
Category 3
architecture is that a single fault cannot lead to loss of the safety function. For more information, see
ISO13849-1.
Performance Level
A Performance Level (PL) is a discrete level used to specify the ability of safety-related parts of control
systems to perform a safety functions under foreseeable conditions. PLd is the second highest reliability
classification, meaning that the safety function is extremely reliable. For more information, see
ISO13849-1.
Diagnostic coverage (DC)
is a measure of the effectiveness of the diagnostics implemented to achieve the rated performance level.
For more information, see ISO13849-1.
MTTFd
The Mean time to dangerous failure (MTTFd) is a value based on calculations and tests used to achieve
the rated performance level. For more information, see ISO13849-1.
Integrator
The integrator is the entity that designs the final robot installation. The integrator is responsible for making
the final risk assessment and must ensure that the final installation complies with local laws and
regulations.
Risk assessment
A risk assessment is the overall process of identifying all risks and reducing them to an appropriate level.
A risk assessment should be documented. Consult ISO12100 for further information.
Collaborative robot application
The term
collaborative
refers to collaboration between operator and robot in a robot application. See
precise definitions and descriptions in ISO10218-1 and ISO10218-2.
Safety configuration
Safety-related functions and interfaces are configurable through safety configuration parameters. These
are defined through the software interface, see part.
UR10e 352 User Manual
26.Glossary
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