Universal Robots UR30 PolyScope X User Manual page 115

19. Safety Functions Tables
19. Safety Functions Tables
Description Universal Robots safety functions and safety I/O are PLd Category 3 (ISO 13849-1),
where each safety function has a PFH
updated to include greater design flexibility for supply chain resilience.
For Safety Function (SF) Descriptions see:
safety I/O the resulting safety function including the external device, or equipment, is
determined by the overall architecture and the sum of all PFH
safety function PFH
SF1
Description
Emergency
Stop
Pressing the Estop PB on the pendant
(according to
External Estop (if using the Estop Safety
ISO 13850)
Input) results in a Stop Cat 1
removed from the robot actuators and the tool
See footnotes
I/O. Command
joints coming to a monitored standstill state,
power is removed.
For the integrated functional safety rating with
an external safety-related control system or
an external emergency stop device that is
connected to the Emergency Stop input, add
the PFH
PFH
(less than 1.8E-07).
User Manual
.
D
NOTICE
The Safety Functions tables presented in this chapter are simplified.
You can find the comprehensive versions of them here:
https://www.universal-robots.com/support
1
all joints to stop and upon all
of this safety-related input to the
D
of this safety function's PFH
D
value less than 1.8E-07. The PFH
D
Safety-related Functions and
What
happens?
1
or the
3
with power
Category 1
stop (IEC
60204-1)
value
D
115
values are
D
Interfaces. For
s, including the UR robot
D
Tolerance
Affects
and PFH
D
Robot
Tol: --
including
PFH : 1.8E-
D
robot tool
07
I/O
UR30 PolyScope X