Glossary
Category 0 stop: Robot motion is stopped by immediate removal of power to the robot.
It is an uncontrolled stop, where the robot can deviate from the programmed
path as each joint brake as fast as possible. This protective stop is used if a safety-
related limit is exceeded or in case of a fault in the safety-related parts of the
control system. For more information, see EN ISO13850:2008 or IEC60204-1:2006.
Category 1 stop: Robot motion is stopped with power available to the robot to achieve
the stop and then removal of power when the stop is achieved. It is a controlled
stop, where the robot will continue along the programmed path. Power is re-
moved after one second or as soon as the robot stands still. For more information,
see EN ISO13850:2008 or IEC60204-1:2006.
Category 2 stop: A controlled stop with power left available to the robot. The robot
can use up to one second to stop all motion. The safety-related control system
monitors that the robot stays at the stop position. For more information, see IEC
60204-1:2006.
Diagnostic coverage (DC): is a measure of the effectiveness of the diagnostics imple-
mented to achieve the rated performance level. For more information, see EN
ISO13849-1:2008.
Integrator: The integrator is the entity that designs the final robot installation. The
integrator is responsible for making the final risk assessment and must ensure
that the final installation complies with local laws and regulations.
MTTFd: The Mean time to dangerous failure (MTTFd) is a value based on calculations
and tests used to achieve the rated performance level. For more information, see
EN ISO13849-1:2008.
Risk assessment: A risk assessment is the overall process of identifying all risks and
reducing them to an appropriate level. A risk assessment should be documented.
Consult ISO 12100 for further information.
Performance Level: A Performance Level (PL) is a discrete level used to specify the abil-
ity of safety-related parts of control systems to perform a safety functions under
foreseeable conditions. PLd is the second highest reliability classification, mean-
ing that the safety function is extremely reliable. For more information, see EN
ISO13849-1:2008.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-113 CB3
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