Universal Robots e Series Gebruikershandleiding pagina 115
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Zie ook voor e Series:
- Gebruikershandleiding (205 pagina's) ,
- Gebruikershandleiding (231 pagina's) ,
- Gebruikershandleiding (281 pagina's)
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17. Veiligheidsfunctietabellen
SF# and
Safety
Description
Function
SF11
Whenever the robot is moving
UR Robot
(motion underway), the dual
Moving:
digital outputs are LOW.
Digital
Outputs are HIGH when no
Output
movement. The functional
safety rating is for what is
within the UR robot. The
integrated functional safety
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
Not
are LOW. The functional safety rating is for what is within
Reduced
the UR robot. The integrated functional safety
Mode:
performance requires adding this PFHd to the PFHd of
Digital
the external logic (if any) and its components.
Output
Gebruikershandleiding
What Happens
If configurable outputs
are set:
• When the robot is
moving (motion
underway), the
dual digital
outputs are LOW.
• Outputs are HIGH
when no
movement.
101
PFH
Affects
D
1.8E-07
External
connection
to logic
and/or
equipment
1.8E-07
External
connection
to logic
and/or
equipment
1.8E-07
1.8E-07
UR16e
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