Universal Robots UR3/CB3 User Manual page 46

Robot stops moving
Program execution
Robot power
Reset
Frequency of use
Requires re-initialization
Stop Category (IEC 60204-1)
Performance level of
monitoring function (ISO 13849-1)
It is possible to use the configurable I/O to set up additional safety I/O functionality,
e.g. emergency stop output. Configuring a set of configurable I/O for safety functions
are done through the GUI, see part II.
Some examples of how to use safety I/O are shown in the following subsections.
5.3.2.1 Default safety configuration
The robot is shipped with a default configuration which enables operation without
any additional safety equipment, see illustration below.
UR3/CB3
Emergency Stop
Brake release only
DANGER:
1. Never connect safety signals to a PLC which is not a safety
PLC with the correct safety level. Failure to follow this warn-
ing could result in serious injury or death as one of safety stop
functions could be overridden. It is important to keep safety in-
terface signals separated from the normal I/O interface signals.
2. All safety-related I/O are constructed redundantly (Two inde-
pendent channels). Keep the two channels separate so that a
single fault cannot lead to loss of the safety function.
3. Safety functions must be verified before putting the robot into
operation. Safety functions must be tested regularly.
4. The robot installation shall conform to these specifications. Fail-
ure to do so could result in serious injury or death as the safety
stop function could be overridden.
I-34
Yes
Stops
Off
Manual Automatic or manual
Infrequent Every cycle to infrequent
1
PLd
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
5.3 Controller I/O
Safeguard Stop
Yes
Pauses
On
No
2
PLd
Version 3.3.3