Universal Robots UR5 User Manual page 29

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 3.4.5
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 pro-
cess 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-17 UR5/CB3