Universal Robots UR10/CB3, User Manual

Page: 85 / 249

1.18. Safety Functions Tables
1.18.1. Table 1: Safety Functions (SF) Descriptions
NOTE
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
All safety functions are individual safety functions.
SF#
Safety
Function
Description
What is
controlled?
SF0 and
SF1
Internal
Emergency
Stop There
are two
separate
Emergency
Stop
safety
functions
Pressing the Estop PB on the pendant1 or the External
Estop (if using the Estop Safety Input configured for
Estop) results in both a Cat 0 and a Cat 1 stop according
to IEC 60204-1 (NFPA79) . These are SF0 and SF1
respectively. SF0: 524ms timer setting in each safety
controller’s microprocessor. At the end of the 524ms, Cat
0 stop3 (IEC 60204-1) is initiated by each microprocessor.
SF1: Command1 all joints to stop and upon all joints
coming to a standstill state, power is removed. This is a
Cat 1 stop per IEC 60204-1. The stopping times of the SF0
and SF1 Estop safety functions differ.
• SFO has a functional safety rating of PLd Cat3 with
the worst-case stopping time, as if all joint
monitoring failed at the same time and after
524ms, then power is immediately removed while
the robot is going the maximum speed. This could
result in a worst case stopping time of 1250ms.
• SF1 has a functional safety rating of PLd Cat2 with
a reliable and realistic maximum stop time of
approximately 300ms for UR3 and 400ms for
UR5/UR10. See the User Manual for specific
information. The application stop time can be
reduced depending on the application’s safety
limits (SF3, 4, 6, 7, 8, 9) settings and the use of the
stop time information provided in the manual.
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