Universal Robots PolyScope X UR16e User Manual page 109

Part I Hardware Installation Manual
SF12 UR Robot
Not stopping:
Digital Output
SF13 UR Robot
Reduced Mode:
Digital Output
SF14 UR Robot
Not Reduced
Mode: Digital
Output
User Manual
Description
When the robot is STOPPING (in process of stopping or in a
stand-still condition) the dual digital outputs are HIGH.
When outputs are LOW, robot is NOT in the process or
stopping and NOT in a stand-still condition. 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.
Description
When the robot is in reduced mode (or reduced mode is
initiated), the dual digital outputs are LOW. See 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.
Description
Whenever the robot is NOT in reduced mode (or the
reduced mode is not initiated), 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.
109
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
PFH Affects
D
External
connection
1.8E-
to logic
07 and/or
equipment
UR16e PolyScope X