Universal Robots PolyScope X UR16e User Manual page 111

Part I Hardware Installation Manual
SF17 Safe Home
Position
"monitored
position"
Table 1 footnotes
User Manual
Description
Safety function which monitors a
safety rated output, such that it
ensures that the output can only
be activated when the robot is in
the configured and monitored
"safe home position".
A stop cat 0 is initiated if the
output is activated when the
robot is not in the configured
position.
1
Communications between the Teach Pendant, controller and within the robot
(between joints) are SIL 2 for safety data, per IEC 61784-3.
2
Estop validation: the pendant Estop pushbutton is evaluated within the pendant, then
communicated¹ to the safety controller by SIL2 communications. To validate the
pendant Estop functionality, press the Pendant Estop pushbutton and verify that an
Estop results. This validates that the Estop is connected within the pendant, the estop
functions as intended, and the pendant is connected to the controller.
3
Stop Categories according to IEC 60204-1 (NFPA79). For the Estop, only stop
category 0 and 1 are allowed according to IEC 60204-1.
• Stop Category 0 and 1 result in the removal of drive power, with stop cat 0 being
IMMEDIATE and stop cat 1 being a controlled stop (e.g. decelerate to a stop
then removal of drive power). With UR robots, a stop category 1 is a controlled
stop where power is removed when a monitored standstill is detected.
• Stop Category 2 is a stop where drive power is NOT removed. Stop category 2 is
defined in IEC 60204-1. Descriptions of STO, SS1 and SS2 are in IEC 61800-5-
2. With UR robots, a stop category 2 maintains the trajectory, then retains power
to the drives after stopping.
4
It is recommended to use the UR Stop Time and Stop Distance Safety Functions.
These limits should be used for your application stop time/ safety distance values.
5
Robot stop was previously known as "Protective stop" for Universal Robots robots.
What happens?
The "safe home
output" can only
be activated when
the robot is in the
configured "safe
home position"
111
Tolerances
Affects
and PFH :
D
External
connection
TOL: 1.7 °
PFH : 1.8E- to logic
D
07
and/or
equipment
UR16e PolyScope X