Universal Robots UR5 User Manual page 45

5.3 Controller I/O
The Robot 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.
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.
Version 3.4.5
• 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-33
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
UR5/CB3
0V
CO4
0V
CO5
0V
CO6
0V
CO7