Universal Robots UR16e

2.15.1. Table 1
SF# and
Safety
Function
Description What happens?
Tolerance
and PFH
D
Affects
SF1
1,2,3,4
Emergency
Stop
(according to
ISO 13850)
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
UR16e 82 User Manual
2.Part I Hardware Installation Manual
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