The Safeguard Interface - Universal Robots UR5 with CB2 User Manual

Note that it is important to make regular checks of the safety stop functionality
to ensure that all safety stop devices are functioning correctly.
The two emergency stop inputs EA-EB and EEA-EEB are potential free inputs
conforming to IEC 60664-1 and EN 60664-1, pollution degree 2, overvoltage cat-
egory II.
The emergency stop outputs EO1-EO2-EO3-EO4 are relay contacts conform-
ing to IEC 60664-1 and EN 60664-1, pollution degree 2, over-voltage category
III.

2.3.2 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 2.3.3.
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
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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
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2.3. The Safety Interface
UR5