Universal Robots UR10/CB3

TUV
NORD
Certified
SF
Safety Function
Limits or
USER
configuration
or Factory
Setting
Stop Category
per IEC 60204-1
IEC 61800-5-2
Stop: power to
final switching
devices
retained for
Category 2
stop
PLd
Cat
PFHd UR
3/5/10
SF1
Emergency Stop
There are two
separate safety
functions: SF0
and SF1
No
Cat 1 Stop when
at SS1
standstill, Cat 0
stop initiated
SS1 when at
SS1 standstill,
Cat 0 stop
initiated
2 3.16E-07
SF2
Safeguard stop
(Protective Stop)
No Cat 2 SS2 2 3.15E-07
SF3
Joint Position
Limit (soft axis
limiting)
Limits Cat 0 NA 2 3.15E-07
SF4
Joint Speed
Limit
Limits Cat 0 NA 2 3.15E-07
SF5
Joint Torque
Limit internal
factory setting
factory
setting
Cat 0 NA 2 3.15E-07
SF6 TCP Pose Limit Limits Cat 0 NA 2 3.15E-07
SF7 TCP Speed Limit Limits Cat 0 NA 2 3.15E-07
TUV
NORD
Certified
SF
Safety Function
Limits or
USER
configuration
or Factory
Setting
Stop Category
per IEC 60204-1
IEC 61800-5-2
Stop: power to
final switching
devices
retained for
Category 2 stop
PLd
Cat
PFHd
UR
3/5/10
SF8 TCP Force Limit Limits Cat 0 NA 2
3.15E-
07
SF9 Momentum Limit Limits Cat 0 NA 2
3.15E-
07
SF10 Power Limit Limits Cat 0 NA 2
3.15E-
07
SF11
UR RINPUTobot
Estop Output
Output & I/O
Configuration
See Estop SF1 See Estop SF1 2
4.41E-
08
SF12
UR Robot
Moving:
Digital Output
Output & I/O
Configuration
Cat 0 NA 2
3.15E-
07
UR10 82 User Manual
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