Universal Robots e-Serie Manual De Usuario página 113

17. Tablas de funciones de seguridad
SF# and
Safety Description
Function
SF10 When configured for Estop output and there is an Estop
UR Robot
condition (see SF1), the dual outputs are LOW. If there is
Estop
no Estop condition, dual outputs are high. Pulses are not
Output
used but are tolerated. For the integrated functional
safety rating with an external Estop device, add the PFHd
of the UR Estop function (SF0 or SF1) to the PFHd of the
external logic (if any) and its components (e.g. Estop
pushbutton). For the Estop Output, validation is
performed at the external equipment, as the UR output is
an input to this external equipment.
SF11 Whenever the robot is moving (motion underway), the
UR Robot
dual digital outputs are LOW. Outputs are HIGH when no
Moving:
movement. The functional safety rating is for what is
Digital
within the UR robot. The integrated functional safety
Output
performance requires adding this PFHd to the PFHd of
the external logic (if any) and its components.
SF12 When the robot is STOPPING (in process of stopping or
UR Robot
in a stand-still condition) the dual digital outputs are
Not
HIGH. When outputs are LOW, robot is NOT in the
stopping:
process or stopping and NOT in a stand-still condition.
Digital
The functional safety rating is for what is within the UR
Output
robot. The integrated functional safety performance
requires adding this PFHd to the PFHd of the external
logic (if any) and its components.
SF13 When the robot is in reduced mode (or reduced mode is
UR Robot
initiated), the dual digital outputs are LOW. See below.
Reduced
The functional safety rating is for what is within the UR
Mode:
robot. The integrated functional safety performance
Digital
requires adding this PFHd to the PFHd of the external
Output
logic (if any) and its components.
SF14 Whenever the robot is NOT in reduced mode (or the
UR Robot
reduced mode is not initiated), the dual digital outputs are
Not
LOW. The functional safety rating is for what is within the
Reduced
UR robot. The integrated functional safety performance
Mode:
requires adding this PFHd to the PFHd of the external
Digital
logic (if any) and its components.
Output
Manual de usuario 99
PFHd Affects
4.70E-08 External
connection
to logic
and/or
equipment
1.20E-07 External
connection
to logic
and/or
equipment
1.20E-07 External
connection
to logic
and/or
equipment
1.20E-07 External
connection
to logic &/or
equipment
1.20E-07 External
connection
to logic &/or
equipment
UR3e