Safety-Related Electrical Outputs - Universal Robots UR3/CB3 User Manual

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Figure 2.2: The green area below the ramp is the allowed speeds for a joint during braking. At time 0 an
event (emergency stop or safeguard stop) is detected at the safety processor. Deceleration begins after 24 ms.
A transition to Reduced mode triggered by the reduced mode input is monitored as
follows:
1. The safety system accepts both Normal and Reduced mode limit sets for 500 ms
2. After 500 ms, only the Reduced mode limits are in effect.
If any of the above properties are not satisfied, the safety system issues a Stop Category
0.
A Stop Category 0 is performed by the safety system with the performance described
in the following table. The worst-case reaction time is the time to stop and to de-
energize (discharge to an electrical potential below 7.3 V) a robot running at full speed
and payload.

2.5.2 Safety-related Electrical Outputs

The table below gives an overview of the safety-related electrical outputs:
UR3/CB3
[rad/s]
Max joint
speed in
normal
mode
0.024
after the reduced mode input is triggered.
Safety Input Function
Robot emergency stop
Emergency stop button
System emergency stop
Safeguard stop
2.5 Safety-related Electrical Interfaces
0.524
Worst Case
Detection
De-energizing
Time
Time
250 ms
1000 ms
250 ms
1000 ms
250 ms
1000 ms
250 ms
1000 ms
I-18
time
[s]
Reaction Time
1250 ms
1250 ms
1250 ms
1250 ms
Version 3.3.3

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