The Safeguard Interface - Universal Robots UR5 User Manual

3.2.2 The Safeguard Interface

[TA]
[TB]
[SA]
[SB]
[A]
[R]
[24V]
[GND]
The Safeguard Interface is used to pause the robot movement in a safe way.
The Safeguard Interface can be used for light guards, door switches, safety PLCs
etc. Resuming from a safeguard stop can be automatic or can be controlled
by a pushbutton, depending on the safeguard configuration. If the Safeguard
Interface is not used then enable automatic reset functionality as described in
section 3.2.3.
Connecting a door switch
Connecting a door switch or something comparable is done as shown above.
Remember to use a reset button configuration if the robot should not start au-
tomatically when the door is closed again.
Connecting a light guard
How to connect a light guard is shown above. It is also possible to use a
category 1 (ISO 13849-1 and EN 954-1) light guard if the risk assessment allows it.
When connecting a category 1 light guard use TA and SA and then connect TB
and SB with a wire. Remember to use a reset button configuration so that the
safeguard stop is latched.
All Rights Reserved
Test Output A
Test Output B
Safeguard Stop Input A (Positive)
Safeguard Stop Input B (Negative)
Automatic continue after safeguard stop
Reset safeguard stop
+24V supply connection for safety devices
0V supply connection for safety devices
30
3.2. The Safety Interface
UR5