Universal Robots UR16e

14.Glossary
Stop Category 0
Robot motion is stopped by immediate removal of power to the robot. It is an uncontrolled stop,
where the robot can deviate from the programmed path as each joint brake as fast as possible.
This robot stop is used if a safety-related limit is exceeded or in case of a fault in the safety-
related parts of the control system. For more information, see ISO13850 or IEC60204-1.
Stop Category 1
Robot motion is stopped with power available to the robot to achieve the stop and then removal
of power when the stop is achieved. It is a controlled stop, where the robot will continue along
the programmed path. Power is removed as soon as the robot stands still. For more information,
see ISO13850 or IEC60204-1.
Stop Category 2
A controlled stop with power left available to the robot. The safety-related control system
monitors that the robot stays at the stop position. For more information, see IEC60204-1.
Category 3
The term Category should not be confused with the term Stop Category . Category refers to the
type of architecture used as basis for a certain Performance Level . A significant property of a
Category 3 architecture is that a single fault cannot lead to loss of the safety function. For more
information, see ISO13849-1.
Performance Level
A Performance Level (PL) is a discrete level used to specify the ability of safety-related parts of
control systems to perform a safety functions under foreseeable conditions. PLd is the second
highest reliability classification, meaning that the safety function is extremely reliable. For more
information, see ISO13849-1.
Diagnostic coverage (DC)
is a measure of the effectiveness of the diagnostics implemented to achieve the rated
performance level. For more information, see ISO13849-1.
MTTFd
The Mean time to dangerous failure (MTTFd) is a value based on calculations and tests used to
achieve the rated performance level. For more information, see ISO13849-1.
Integrator
The integrator is the entity that designs the final robot installation. The integrator is responsible
for making the final risk assessment and must ensure that the final installation complies with
local laws and regulations.
Risk assessment
A risk assessment is the overall process of identifying all risks and reducing them to an
appropriate level. A risk assessment should be documented. Consult ISO12100 for further
information.
Collaborative robot application
The term collaborative refers to collaboration between operator and robot in a robot application.
See precise definitions and descriptions in ISO10218-1 and ISO10218-2.
UR16e 364 User Manual
14.Glossary
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