Universal Robots UR30 - Page 229

SF11 UR
Robot
Moving:
Digital
Output
Description What Happens PFH
D
Affects
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
Description PFH
D
Affects
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
Description PFH
D
Affects
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
External
connection
to logic
and/or
equipment
SF14 UR
Robot Not
Reduced
Mode:
Digital
Output
Description PFH
D
Affects
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
External
connection
to logic
and/or
equipment
User Manual 230 UR30
22.Safety Functions Table
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