Table The functional difference is shown below.
Emergency
Stop
Safeguard
Stop
3PE Stop
Robot stops moving Yes Yes Yes
Program execution Pauses Pauses Pauses
Drive power Off On On
Reset Manual
Automatic or
manual
Automatic or
manual
Frequency of use Infrequent
Every cycle to
infrequent
Every cycle to
infrequent
Requires re-initialization
Brake release
only
No No
Stop Category (IEC60204-1) 1 2 2
Performance level of monitoring
function (ISO13849-1)
PLd PLd PLd
Safety caution Use the configurable I/O to set up additional safety I/O functionality, e.g. Emergency
Stop Output. Configuring a set of configurable I/O for safety functions are done through
the GUI, (see partPart II PolyScope Manual).
CAUTION
Failure to verify and test the safety functions regularly can lead to
hazardous situations.
•
Safety functions shall be verified before putting the robot into
operation.
•
Safety functions shall be tested regularly.
OSSD signals All configured and permanent safety inputs are filtered to allow the use of OSSD safety
equipment with pulse lengths under 3ms. The safety input is sampled every millisecond
and the state of the input is determined by the most frequently seen input signal over
the last 7 milliseconds. OSSD pulses on the safety outputs are detailed in partPart II
PolyScope Manual.
User Manual 51 UR10e
4. Electrical Interface
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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