Universal Robots UR3/CB3 Original Instructions Manual page 33

2.5 Safety-related Electrical Interfaces
Safety Output
System Emergency Stop
Robot Moving
Robot Not Stopping
Reduced Mode
Not Reduced Mode
If a safety output is not set properly, the safety system issues a Stop Category 0, with the following
worst-case reaction times:
Version 3.10
Description
Logic low when the Robot emergency stop input is logic low
or the Emergency stop button is pressed.
While this signal is logic high, no single joint of the robot
arm moves more than 0.1 rad.
Logic high when the robot is stopped or in the process
of stopping due to an emergency stop or safeguard stop.
Otherwise it will be logic low.
Logic low when the safety system is in Reduced mode.
The Reduced mode output negated.
Safety Output
System Emergency Stop
Robot Moving
Robot Not Stopping
Reduced Mode
Not Reduced Mode
I-19
Worst Case Reaction Time
1100 ms
1100 ms
1100 ms
1100 ms
1100 ms
UR3/CB3