Universal Robots UR30 - Page 231

SF17 Safe
Home
Position
"monitored
position"
Description What happens?
Tolerances
and PFH
D
:
Affects
Safety function which monitors a
safety rated output, such that it
ensures that the output can only be
activated when the robot is in the
configured and monitored “safe
home position”.
A stop cat 0 is initiated if the output
is activated when the robot is not in
the configured position.
The “safe home
output” can only be
activated when the
robot is in the
configured “safe
home position”
TOL:1.7 °
PFH
D
:1.8E-
07
External
connection
to logic
and/or
equipment
Table 1
footnotes
1
Communications between the Teach Pendant, controller and within the robot (between
joints) are SIL 2 for safety data, per IEC 61784-3.
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 232 UR30
22.Safety Functions Table
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