IMMI safety functions

This section contains information about the safety functions supported by the IMMI. Below describes the UR IMMI safety outputs. Consult with the IMM manufacturerer for functional safety details of the IMM.

These safety functions are in accordance with ISO 13849-1 and the connector pin assignments of EUROMAP 67 / SPI AN-146.

UR Safety function	Cat./PL	PFHd
Emergency stop	3/d	2.33E-7
Safe guard stop	3/d	2.01E-7

Safety function 1

Emergency stop: Bidirectional
Name	Emergency stop.
Type	UR robot: Stop category 1 according to per IEC 60204-1. IMM: See IMM documentation.
Triggering event	UR robot: Emergency stop push-button is pressed; stop triggered by IMM. IMM: See IMM documentation.
Reaction	UR robot: Stop category 1 according to per IEC 60204-1. IMM: See IMM documentation.
Safe state	UR robot: Drive power to the robot is removed; stop is initiated to the IMM through the IMMI. IMM: See IMM documentation.
Intended use	Stop all hazardous machine functions and remove power.

Safety function 2

UR safeguard stop input from the IMM
Name	Safeguard stop.
Type	For safeguarding (protection) of personnel from IMM risks.
Triggering event	The IMM safeguard outputs change state, thereby triggering a safeguard stop to the UR robot.
Reaction and behavior on power failure	Robot stops upon loss of power to the UR robot. See IMM documentation to determine reaction of IMM and the safeguard upon loss of power to the IMM or the IMM safeguard.
Safe state	Robot is not moving and is in a monitored-standstill state (stop category 2 according to IEC 60204-1.
Intended use	IMM Safeguarding.