Universal Robots UR3/CB3 User Manual page 47

5.3 Controller I/O
5.3.2.2 Connecting emergency stop buttons
In most applications it is required to use one or more extra emergency stop buttons.
The illustration below shows how one or more emergency stop buttons can be con-
nected.
5.3.2.3 Sharing emergency stop with other machines
It is often desired to set up a common emergency stop circuit when the robot is used
together with other machines. By doing so, the operator does not need to think about
which emergency stop buttons to use.
The normal emergency stop input cannot be used for sharing purposes, since both
machines will wait for the each other to go out of the emergency stopped condition.
In order to share the emergency stop function with other machinery, the following
configurable I/O functions must be configured through the GUI.
The illustration below shows how two UR robots share their emergency stop func-
tions. In this example the configured I/Os used are "CI0-CI1" and "CO0-CO1".
If more than two UR robots or other machines need to be connected, a safety PLC is
needed to control the emergency stop signals.
Version 3.3.3
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
• Configurable input pair: External emergency stop.
• Configurable output pair: System emergency stop.
Configurable Outputs
Configurable Inputs
24V 24V 0V
CI0 CI4 CO0
24V 24V 0V
CI1 CI5 CO1
24V 24V 0V
CI2 CI6 CO2
24V 24V 0V
CI3 CI7 CO3
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
0V
A B
CO4
0V
CO5
0V
CO6
0V
CO7
I-35
Configurable Outputs
Configurable Inputs
24V 24V 0V
CI0 CI4 CO0 CO4
24V 24V 0V
CI1 CI5 CO1 CO5
24V 24V 0V
CI2 CI6 CO2 CO6
24V 24V 0V
CI3 CI7 CO3 CO7
0V
0V
0V
0V
UR3/CB3