Table of Contents
Advertisement
Safety
SF#
Function
SF14
Internal
UR Robot
as a
Reduced
function
Mode:
with
Digital
dual
Output
outputs
SF15
UR Robot
Internal
Not
as a
Reduced
function
Mode:
with
Digital
dual
Output
outputs
TUV
Safety
NORD
Certified
Function
SF
Internal
Logic and
Robot
Outputs,
Reduced
with Dual
Mode
Inputs (1
through
4)
Internal
Logic and
Outputs,
Safeguard
with Dual
Reset
Inputs (1
through
4)
UR10
Whenever the robot is in reduced mode, the dual digital
outputs are LOW. See Robot Reduced Mode 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.
Whenever the robot is NOT in reduced mode, 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.
Reduced Mode can be initiated by a safety plane/ boundary
(starts when at 2cm of the plane and reduced mode
settings are achieved within 2cm of the plane) or by use of
an input to initiate (will achieve reduced settings within
500ms). When the external connections are Low, Reduced
Mode is initiated. Reduced Mode means that ALL reduced
mode limits are ACTIVE Reduced mode is not a safety
function, rather it is a state affecting the settings of the
following safety function limits: SF3 joint position, SF4
joint speed, SF6 TCP pose limit, SF7 TCP speed, SF8 TCP
force, SF9 momentum, and SF10 power.
When configured for Safeguard Reset and the external
connections transition from low to high, the safeguard stop
RESETS Safety input to initiate a reset of safeguard stop
safety function SF2.
Description
Description
80
What is
controlled?
External
connection
to logic
and/or
equipment
External
connection
to logic
and/or
equipment
What is
controlled?
Robot Arm
Robot
User Manual
Advertisement
Table of Contents
