Universal Robots UR5e User Manual page 47

5.4 Controller I/O
Connecting emergency stop buttons
Most applications require one or more extra emergency stop buttons. The illustration below
shows how one or more emergency stop buttons can be connected.
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
Sharing the Emergency Stop with other machines
You can set up a shared emergency stop function between the robot and other machines by
configuring the following I/O functions via the GUI. The Robot Emergency Stop Input cannot be
used for sharing purposes. If more than two UR robots or other machines need to be connected,
a safety PLC must be used to control the emergency stop signals.
• Configurable input pair: External emergency stop.
• Configurable output pair: System emergency stop.
The illustration below shows how two UR robots share their emergency stop functions. In this
example the configured I/Os used are CI0-CI1 and CO0-CO1.
Configurable Inputs
24V
CI0
24V
CI1
24V
CI2
24V
CI3
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).
Version 5.0.2
Configurable Outputs
24V 0V 0V
CI4 CO0 CO4
24V 0V 0V
CI5 CO1 CO5
24V 0V 0V
CI6 CO2 CO6
24V 0V 0V
CI7 CO3 CO7
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
Configurable Inputs
A B 24V 24V
CI0 CI4
24V 24V
CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
I-33
Configurable Outputs
0V 0V
CO0 CO4
0V 0V
CO1 CO5
0V 0V
CO2 CO6
0V 0V
CO3 CO7
UR5e/CB5