Universal Robots UR10e PolyScope X User Manual page 114

16. Safety Functions Table 1
Description
SF1 Emergency
Stop (according
to ISO 13850)
See footnotes
UR10e PolyScope X
Universal Robots safety functions and safety I/O are PLd Category
3 (ISO 13849-1), where each safety function has a PFH
less than 1.8E-07. The PFH
greater design flexibility for supply chain resilience.
For Safety Function (SF) Descriptions see:
Table 1 above. For 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 .
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
Description
Pressing the Estop PB on the pendant
the External Estop (if using the Estop
Safety Input) results in a Stop Cat 1
power removed from the robot actuators
and the tool I/O. Command
stop and upon all 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
this safety-related input to the PFH
this safety function's PFH
than 1.8E-07).
values are updated to include
D
16 Safety Functions
s, including the UR robot
D
What
happens?
1
or
3
with
1
all joints to
Category 1
stop (IEC
60204-1)
of
D
of
D
value (less
D
114
16. Safety Functions Table 1
value
D
Tolerance
Affects
and PFH
D
Robot
Tol: --
including
PFH : 1.8E-
D
robot tool
07
I/O
User Manual