Universal Robots UR3 Manual De Usuario página 92

1.19. Table 2: Compliance and ISO 13849-1 Functional
Safety Information
TUV
NORD
Safety Function
Certified
SF
Emergency Stop
There are two
separate
SF0
Emergency Stop
safety functions:
SF0 and SF1
Emergency Stop
There are two
SF1 separate safety
functions: SF0
and SF1
Safeguard stop
SF2
(Protective Stop)
Joint Position
SF3 Limit (soft axis
limiting)
Joint Speed
SF4
Limit
Joint Torque
SF5 Limit internal
factory setting
SF6 TCP Pose Limit
SF7 TCP Speed Limit
TUV
NORD
Safety Function
Certified
SF
SF8 TCP Force Limit
UR3
Limits or
USER
Stop Category
configuration
per IEC 60204-1
or Factory
Setting
Cat 1 Stop
524ms time-
No delay before Cat
0 stop is
initiated
Cat 1 Stop when
at SS1
No
standstill, Cat 0
stop initiated
No Cat 2
Limits Cat 0
Limits Cat 0
factory
Cat 0
setting
Limits Cat 0
Limits Cat 0
Limits or
USER
Stop Category
configuration
per IEC 60204-1
or Factory
Setting
Limits
84
IEC 61800-5-2
Stop: power to
final switching
devices
retained for
Category 2
stop
NA
SS1 when at
SS1 standstill,
Cat 0 stop
initiated
SS2
NA
NA
NA
NA
NA
IEC 61800-5-2
Stop: power to
final switching
devices
retained for
Category 2 stop
Cat 0 NA
PLd PFHd UR
Cat 3/5/10
3 4.38E-8
2 3.16E-07
2 3.15E-07
2 3.15E-07
2 3.15E-07
2 3.15E-07
2 3.15E-07
2 3.15E-07
PFHd
PLd
UR
Cat
3/5/10
3.15E-
2
07
Manual de usuario