Universal Robots UR30 - Safety Functions Table

22.Safety Functions Table
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 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
User Manual 226 UR30
22.Safety Functions Table
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.