Universal Robots UR5 Original Instructions Manual page 35

4.3 Controller I/O
4.3.2 Safety I/O
This section describes the dedicated safety inputs (Yellow terminal with red text) and
the configurable I/O (Yellow terminals with black text) when configured as safety I/O.
The common specifications in section 4.3.1 must be observed.
Safety devices and equipment must be installed according to the safety instructions
and the risk assessment, see chapter 1.
All safety I/O are pairwise (redundant) and must be kept as two separate branches. A
single fault shall not cause loss of the safety function.
The two permanent safety inputs are the emergency stop and the safeguard stop. The
emergency stop input is for emergency stop equipment only. The safeguard stop input
is for all kinds of safety-related protective equipment. The functional difference is
shown below.
Version 3.1 (rev. 17782)
Terminals
Digital outputs
[COx / DOx]
[COx / DOx]
[COx / DOx]
[COx / DOx]
[COx / DOx]
Digital Inputs
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
[EIx/SIx/CIx/DIx]
NOTE:
The word "configurable" is used for I/O that can be configured as ei-
ther safety-related I/O or normal I/O. These are the yellow terminals
with black text.
I-23
Parameter Min
Current 0
Voltage drop 0
Leakage current 0
Function -
IEC 61131-2 -
Voltage -3
OFF region -3
ON region 11
Current (11-30V) 2
Function -
IEC 61131-2 -
Typ Max Unit
- 1 A
- 0.5 V
- 0.1 mA
PNP - Type
1A - Type
- 30 V
- 5 V
- 30 V
- 15 mA
PNP - Type
3 - Type
UR5/CB3