Table 3-1. Compliance, UL 3100, and ISO 13849-1 Functional Safety Information NOTE: SF3 is internal to the core, and is not shown in the preceding figure. 26 Mobile Robot LD Safety Guide 18393-000 Rev H Function # LD-60, LD-90, and CT-xxx Safety Function PL Cat PFHd SF0 ESTOP Logic - Emergency Stop e 3 3.4E-8 SF1 LIDAR Velocity-Based Field Zone (Object Detection) d 3 1.7E7 SF2 ESTOP Logic - User ESTOP e 3 3.6E-8 SF3 ESTOP Logic - Speed control. Forward and reverse control.
d 3 3.7E-7 SF4 ESTOP Logic - Manual (Joystick) Override e 3 4.6E-8 Function # LD -250 Safety Function PL Cat PFHd SF0 ESTOP Logic - Emergency Stop e 3 2.9E-8 SF1 LIDAR Velocity-Based Field Zone (Object Detection) d 3 1.2E-7 SF2 ESTOP Logic - User ESTOP e 3 3.6E-8 SF3 ESTOP Logic - Speed control. Forward and reverse control. e 3 3.9E-8 SF4 ESTOP Logic - Manual (Joystick) Override e 3 5.8E-8