IMMI Safety Functions

Description

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.

 
Safety function
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.