Universal Robots UR3/CB3 User Manual page 48

5.3.2.4 Safeguard stop with automatic resume
An example of a basic safeguard stop device is a door switch where the robot is
stopped when a door is opened, see illustration below.
This configuration is only intended for application where the operator cannot pass the
door and close it behind him. The configurable I/O can be used to setup a reset button
outside the door, to reactivate robot motion.
Another example where automatic resume can be appropriate is when using a safety
mat or a safety-related laser scanner, see below.
5.3.2.5 Safeguard stop with reset button
If the safeguard interface is used to interface a light curtain, a reset outside the safety
perimeter is required. The reset button must be a two channel type. In this example
the I/O configured for reset is "CI0-CI1", see below.
UR3/CB3
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
Safety
24V 24V
EI0
24V
EI1
24V
SI0
24V
SI1
DANGER:
1. The robot resumes movement automatically when the safe-
guard signal is re-established. Do not use this configuration if
signal can be re-established from the inside of the safety perime-
ter.
I-36
0V
5.3 Controller I/O
24V
0V
Version 3.3.3