SF#
Safety
Function
Description
What is
controlled?
SF8
Internal
TCP
Force
Limit
Exceeding the TCP force limit results in a Cat 0 stop5 (IEC
60204-1). Limits the external clamping force exerted by the
robot. See also Joint Torque Limit (SF5).
TCP
SF9
Internal
Joint
Speed
Limit
Exceeding the momentum limit results in a Cat 0 stop5 (IEC
60204-1). The momentum limit is very useful for limiting
transient impacts. The Momentum Limit affects the entire
robot arm.
Robot Arm
SF10
Internal
Power
Limit
Exceeding the power limit results in a Cat 0 stop5 (IEC 60204-
1). This function monitors the mechanical work (sum of joint
torques times joint angular speeds) performed by the robot,
which also affects the current to the robot arm as well as the
speed of the robot arm. This function dynamically limits the
current/torque but maintain the speed.
Robot Arm
SF#
Safety
Function
Description
What is
controlled?
SF11
Internal
as a
function
with
dual
outputs
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).
External
connection
to logic
and/or
equipment
SF12
Internal
as a
function
with
dual
outputs
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.
External
connection
to logic
and/or
equipment
SF13
Internal
as a
function
with
dual
outputs
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.
External
connection
to logic
and/or
equipment
User Manual 79 UR10
Copyright © 2009–2020 by UniversalRobotsA/S. All rights reserved.
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