Universal Robots UR16e

2
Estop validation: the pendant Estop pushbutton is evaluated within the pendant, then
communicated¹ to the safety controller by SIL2 communications. To validate the pendant Estop
functionality, press the Pendant Estop pushbutton and verify that an Estop results. This validates
that the Estop is connected within the pendant, the estop functions as intended, and the pendant is
connected to the controller.
3
Stop Categories according to IEC 60204-1 (NFPA79). For the Estop, only stop category 0 and 1 are
allowed according to IEC 60204-1.
•
Stop Category 0 and 1 result in the removal of drive power, with stop cat 0 being IMMEDIATE
and stop cat 1 being a controlled stop (e.g. decelerate to a stop then removal of drive power).
With UR robots, a stop category 1 is a controlled stop where power is removed when a
monitored standstill is detected.
•
Stop Category 2 is a stop where drive power is NOT removed. Stop category 2 is defined in
IEC 60204-1. Descriptions of STO, SS1 and SS2 are in IEC 61800-5-2. With UR robots, a
stop category 2 maintains the trajectory, then retains power to the drives after stopping.
4
It is recommended to use the UR Stop Time and Stop Distance Safety Functions. These limits
should be used for your application stop time/ safety distance values.
5
Robot stop was previously known as "Protective stop" for UniversalRobots robots.
User Manual 91 UR16e
2.Part I Hardware Installation Manual
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