Universal Robots UR10e PolyScope X - Safety Functions Table

16.Safety Functions Table 1
Description Universal Robots safety functions and safety I/O are PLd Category
3 (ISO 13849-1), where each safety function has a PFH
D
value
less than 1.8E-07. The PFH
D
values are updated to include
greater design flexibility for supply chain resilience.
For Safety Function (SF) Descriptions see: 16 Safety Functions
Table 1above. 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 PFH
D
s, including the UR robot
safety function PFH
D
.
NOTICE
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
SF1 Emergency
Stop (according
to ISO 13850)
See footnotes
Description
What
happens?
Tolerance
and PFH
D
Affects
Pressing the Estop PB on the pendant
1
or
the External Estop (if using the Estop
Safety Input) results in a Stop Cat 1
3
with
power removed from the robot actuators
and the tool I/O. Command
1
all joints to
stop and upon all joints coming to a
monitored standstill state, power is
removed.
For the integrated functional safety rating
with an external safety-related control
system or an external emergency stop
device that is connected to the
Emergency Stop input, add the PFH
D
of
this safety-related input to the PFH
D
of
this safety function’s PFH
D
value (less
than 1.8E-07).
Category 1
stop (IEC
60204-1)
Tol: --
PFH
D
: 1.8E-
07
Robot
including
robot tool
I/O
UR10e PolyScope X 114 User Manual
16.Safety Functions Table 1
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