Universal Robots PolyScope X UR16e User Manual page 108

SF10 UR Robot
Estop Output
SF11 UR Robot
Moving: Digital
Output
UR16e PolyScope X
Description
When configured for a Robot <Estop>
output and there is a robot stop, the dual
outputs are LOW. If there is no Robot
<Estop> Stop initiated, dual outputs are
high. Pulses are not used but they are
tolerated.
These dual outputs change state for any
external Estop that is connected to
configurable safety inputs where this input
is configured as an Emergency Stop input.
For the integrated functional safety rating
with an external safety-related control
system, add the PFHD of this safety-
related output to the PFHD of the external
safety-related control system.
For the Estop Output, validation is
performed at the external equipment, as
the UR output is an input to this external
Estop safety function for external
equipment.
NOTE: If the IMMI (Injection Moulding
Machine Interface) is used, the UR Robot
Estop output is NOT connected to the
IMMI. There is no Estop output signal sent
sent from the UR robot to the IMMI.This is
a feature to prevent an unrecoverable stop
condition.
Description
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.
Part I Hardware Installation Manual
What
Happens
Dual outputs
go low in
event of an
Estop if
configurable
outputs are
set
What Happens
If configurable
outputs are set:
• When the
robot is
moving
(motion
underway),
the dual
digital
outputs are
LOW.
• Outputs are
HIGH when
no
movement.
108
PFH Affects
D
External
connection
1.8E-
to logic
07
and/or
equipment
PFH Affects
D
External
connection
1.8E-
to logic
07
and/or
equipment
User Manual