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5.3 Safety-related Electrical Interfaces
The robot is equipped with several safety-related electrical inputs and outputs. All
safety-related electrical inputs and outputs are dual channel. They are safe when low,
e.g. the emergency stop is not active when the signal is high (+24V).
5.3.1 Safety-related Electrical Inputs
The table below gives an overview of the safety-related electrical inputs.
A category 1 and 2 stop decelerates the robot with drive power on, which enables the
robot to stop without deviating from its current path.
Monitoring of safety inputs Category 1 and 2 stops are monitored by the safety
system in the following way:
1. The safety system monitors that the braking initiates within 24 ms, see Figure 5.2.
2. If a joint is moving, its speed is monitored to never be higher than the speed ob-
3. If a joint is at rest (joint speed is less than 0.2
Additionally, for a category 1 stop, the safety system monitors that after the robot arm
is at rest, the powering off is finalized within 600 ms. Furthermore, after a safeguard
stop input, the robot arm is only allowed to start moving again after a positive edge
UR5/CB3
WARNING:
Notice that limits for the joint position, the TCP position, and the TCP
orientation are disabled in Recovery Mode. Take caution when mov-
ing the robot arm back within the limits.
Safety Input
Robot emergency stop
Emergency stop button
System emergency stop
Safeguard stop
Safeguard reset input
Reduced mode
tained by constantly decelerating from the maximum joint speed limit for Normal
mode to 0
rad
/
in 500 ms.
s
move more than 0.05 rad from the position it had when the speed was measured
below 0.2
rad
/
.
s
5.3 Safety-related Electrical Interfaces
Description
Performs a category 1 stop, informing other machines us-
ing the System emergency stop output.
Performs a category 1 stop, informing other machines us-
ing the System emergency stop output.
Performs a category 1 stop.
Performs a category 2 stop.
Resumes the robot from a Safeguard stopped state, when an
edge on the Safeguard reset input occurs.
The safety system transitions to Reduced mode limits.
rad
/
), it is monitored that it does not
s
I-42
Version 3.1
(rev. 17782)
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