Universal Robots UR5 with CB2 User Manual page 21

2.3. The Safety Interface
An example where multiple UR robots share their emergency stop function is
shown below. Connect more robots as robot number 2 is connected.
This example uses 24V which works with many other machines. Make sure to
comply with all electrical specifications when UR robots share emergency stop
with other machinery.
Electric Specifications
A simplified internal schematics of circuitry is shown below. It is important to
notice that any short circuit or lost connection will lead to a safe stop, as long
as only one error appears at a time. Failure and abnormal behavior of relays
and power supplies results in an error message in the robot log and prevents the
robot from powering up.
Below: Specifications of the Emergency Stop Interface.
Parameter
[TA-TB] Voltage
[TA-TB] Current (Each output)
[TA-TB] Current protection
[EA-EB][EEA-EEB] Input voltage
[EA-EB][EEA-EEB] Guaranteed OFF if
[EA-EB][EEA-EEB] Guaranteed ON if
[EA-EB][EEA-EEB] Guaranteed OFF if
[EA-EB][EEA-EEB] ON Current (10-30V)
[EO1-EO2][EO3-EO4] Contact Current AC/DC
[EO1-EO2][EO3-EO4] Contact Voltage DC
[EO1-EO2][EO3-EO4] Contact Voltage AC
Note the number of safety components that should be used and how they must
work depend on the risk assessment, which is explained in section 4.1.
All Rights Reserved
Min
10.5
-
-
-30
-30
10
0
7
0.01
5
5
21
Typ Max Unit
12 12.5 V
- 120 mA
400 - mA
- 30 V
- 7 V
- 30 V
- 3 mA
- 14 mA
- 6 A
- 50 V
- 250 V
UR5