Universal Robots UR16e

SF# and
Safety
Function
Description What Happens PFH
D
Affects
SF11
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.
If configurable outputs
are set:
•
When the robot is
moving (motion
underway), the
dual digital
outputs are LOW.
•
Outputs are HIGH
when no
movement.
1.8E-07
External
connection
to logic
and/or
equipment
SF12
UR Robot
Not
stopping:
Digital
Output
When 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.
1.8E-07
External
connection
to logic
and/or
equipment
SF13
UR Robot
Reduced
Mode:
Digital
Output
When the robot is in reduced mode (or reduced mode is
initiated), the dual digital outputs are LOW. See below.
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.
1.8E-07
SF14
UR Robot
Not
Reduced
Mode:
Digital
Output
Whenever the robot is NOT in reduced mode (or the
reduced mode is not initiated), the dual digital outputs
are LOW. 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.
1.8E-07
UR16e 88 User Manual
2.Part I Hardware Installation Manual
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