Universal Robots E Series Original Instructions Manual page 104

SF# and
Safety
Function
SF10 When configured for Estop output and there is an Estop
UR Robot
condition (see SF1), the dual outputs are LOW. If there is no
Estop
Estop condition, dual outputs are high. Pulses are not used
Output
but they are tolerated. For the integrated functional safety
rating with an external Estop device, add the PFHd of the
UR Estop function (SF0 or SF1) to the PFHd of the external
logic (if any) and its components (e.g. Estop pushbutton).
For the Estop Output, validation is performed at the external
equipment, as the UR output is an input to this external
equipment.
SF11 Whenever the robot is moving (motion underway), the dual
UR Robot
digital outputs are LOW. Outputs are HIGH when no
Moving:
movement. The functional safety rating is for what is within
Digital
the UR robot. The integrated functional safety performance
Output
requires adding this PFHd to the PFHd of the external logic
(if any) and its components.
SF12 Whenever the robot is STOPPING (in process of stopping or
UR Robot
in a stand-still condition) the dual digital outputs are HIGH.
Not
When outputs are LOW, robot is NOT in the process or
stopping:
stopping and NOT in a stand-still condition. The functional
Digital
safety rating is for what is within the UR robot. The
Output
integrated functional safety performance requires adding
this PFHd to the PFHd of the external logic (if any) and its
components.
SF13 Whenever the robot is in reduced mode (or reduced mode is
UR Robot
initiated), the dual digital outputs are LOW. See below. The
Reduced
functional safety rating is for what is within the UR robot.
Mode:
The integrated functional safety performance requires
Digital
adding this PFHd to the PFHd of the external logic (if any)
Output
and its components.
SF14 Whenever the robot is NOT in reduced mode (or the
UR Robot
reduced mode is not initiated), the dual digital outputs are
Not
LOW. The functional safety rating is for what is within the
Reduced
UR robot. The integrated functional safety performance
Mode:
requires adding this PFHd to the PFHd of the external logic
Digital
(if any) and its components.
Output
UR5e
Description
90
16. Safety Functions Tables
PFHd Affects
4.70E-08 External
connection
to logic
and/or
equipment
1.20E-07 External
connection
to logic
and/or
equipment
1.20E-07 External
connection
to logic
and/or
equipment
1.20E-07 External
connection
to logic
&/or
equipment
1.20E-07 External
connection
to logic
&/or
equipment
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