15.Safety Functions Tables
15.1. 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).
For Safety Function (SF) Descriptions see: Safety-related Functions and Interfaces. 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.
UR5e 88 Hardware Manual
15.Safety Functions Tables
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