Universal Robots UR30 PolyScope X User Manual page 63

7. Electrical Interface
Table The functional difference is shown below.
Robot stops moving
Program execution
Drive power
Reset
Frequency of use
Requires re-initialization
Stop Category (IEC 60204-1)
Performance level of monitoring
function (ISO 13849-1)
Safety Use the configurable I/O to set up additional safety I/O functionality, e.g. Emergency Stop
caution Output. Use the PolyScope interface to define a set of configurable I/O for safety functions.
OSSD All configured and permanent safety inputs are filtered to allow the use of OSSD safety
signals equipment with pulse lengths under 3ms. The safety input is sampled every millisecond and
the state of the input is determined by the most frequently seen input signal over the last 7
milliseconds.
User Manual
CAUTION
Failure to verify and test the safety functions regularly can lead to
hazardous situations.
•
Safety functions shall be verified before putting the robot into
operation.
•
Safety functions shall be tested regularly.
63
Emergency
Safeguard Stop
Stop
Yes Yes
Pauses Pauses
Off On
Automatic or
Manual
manual
Every cycle to
Infrequent
infrequent
Brake release
No
only
1
PLd PLd
3PE Stop
Yes
Pauses
On
Automatic or
manual
Every cycle to
infrequent
No
2 2
PLd
UR30 PolyScope X