Universal Robots UR3/CB3 User Manual page 31

2.5 Safety-related Electrical Interfaces
If a safety output is not set properly, the safety system issues a Stop Category 0, with
the following worst-case reaction times:
Version 3.3.3
Safety Output
System emergency stop
Robot moving
Robot not stopping
Reduced mode
Not reduced mode
Safety Output
System emergency stop
Robot moving
Robot not stopping
Reduced mode
Not reduced mode
Description
Logic low when the Robot emergency stop input is logic low
or the Emergency stop button is pressed.
While this signal is logic high, no single joint of the robot
arm moves more than 0.1 rad.
Logic high when the robot is stopped or in the process
of stopping due to an emergency stop or safeguard stop.
Otherwise it will be logic low.
Logic low when the safety system is in Reduced mode.
The Reduced mode output negated.
Worst Case Reaction Time
1100 ms
1100 ms
1100 ms
1100 ms
1100 ms
I-19 UR3/CB3