Safety-Related Electrical Interfaces - Universal Robots UR10/CB3 User Manual

1.6.5. Safety-related Electrical Interfaces

The robot is equipped with several safety-related electrical inputs and outputs. All safety-related
electrical inputs and outputs are dual channel. They are safe when low, e.g. the emergency stop
is not active when the signals are high (+24V).
Safety-related Electrical Inputs
The table below gives an overview of the safety-related electrical inputs.
Safety Input Description
Robot
(Dedicated Input). Performs a Stop Category 1, which can be forwarded to other
Emergency
machines using the System emergency stop output when configured.
Stop
Emergency (Teach Pendant Button). Performs a Stop Category 1, which can be forwarded
Stop Button to other machines using the System emergency stop output when configured.
System (Configurable Input). Performs a Stop Category 1. To avoid deadlocks, this
Emergency signal will not be forwarded to other machines through the System emergency
Stop stop output.
Safeguard
(Dedicated Input). Performs a Stop Category 2.
Stop
Safeguard (Configurable Input). Resumes the robot from a Safeguard stopped state, when
Reset an edge on the Safeguard reset input occurs.
Reduced
(Configurable Input). The safety system transitions to Reduced mode limits.
Mode
Three-
Position (Configurable Input). Functions as a safeguard stop input when the operational
Enabling mode input is high.
Device
Operational (Configurable Input). Operational mode to use when a Three-position enabling
Mode device is configured.
A Stop Category 1 and a Stop Category 2 decelerates the robot with drive power on, which
enables the robot to stop without deviating from its current path.
User Manual 17 UR10