Universal Robots e Series Installation Manual page 10

UR Safety function Cat./PL
Safe guard
stop
Safety function 1
Emergency stop: Bidirectional
Name Emergency stop.
Type UR robot: Stop category 1 according to per IEC 60204-1.
IMM: See IMM documentation.
Triggering UR robot: Emergency stop push-button is pressed; stop triggered by IMM.
IMM: See IMM documentation.
event
Reaction UR robot: Stop category 1 according to per IEC 60204-1.
IMM: See IMM documentation.
Safe state UR robot: Drive power to the robot is removed; stop is initiated to the IMM through
the IMMI.
IMM: See IMM documentation.
Intended use Stop all hazardous machine functions and remove power.
Safety function 2
UR safeguard stop input from the IMM
Name
Type
Triggering event
Reaction and
behavior on power
failure
Safe state
Intended use
e-Series Injection Molding Machine
Interface (IMMI)
3/d
Safeguard stop.
For safeguarding (protection) of personnel from IMM risks.
The IMM safeguard outputs change state, thereby triggering a safeguard
stop to the UR robot.
Robot stops upon loss of power to the UR robot.
See IMM documentation to determine reaction of IMM and the safeguard
upon loss of power to the IMM or the IMM safeguard.
Robot is not moving and is in a monitored-standstill state (stop category 2
according to IEC 60204-1.
IMM Safeguarding.
PFHd
2.01E-7
6
2. Safety
Installation Guide