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Emergency Stop Button
System Emergency Stop
Safeguard Stop
Safety-related Electrical Outputs
The table below gives an overview of the safety-related electrical outputs:
Safety
Description
Output
System
Logic low when the Robot emergency stop input is logic low or the Emergency
Emergency
stop button is pressed.
Stop
Robot
While this signal is logic high, no single joint of the robot arm moves more than
Moving
0.1 rad.
Robot Not
Logic high when the robot is stopped or in the process of stopping due to an
Stopping
emergency stop or safeguard stop. Otherwise it will be logic low.
Reduced
Logic low when the safety system is in Reduced mode.
Mode
Not Reduced
The Reduced mode output negated.
Mode
If a safety output is not set properly, the safety system issues a Stop Category 0, with the
following worst-case reaction times:
Safety Output
System Emergency Stop
Robot Moving
Robot Not Stopping
Reduced Mode
Not Reduced Mode
1. Stop Categories are according to IEC 60204-1, see Glossary for more
User Manual
250 ms
1000 ms
250 ms
1000 ms
250 ms
1000 ms
Worst Case Reaction Time
1100 ms
1100 ms
1100 ms
1100 ms
1100 ms
19
1250 ms
1250 ms
1250 ms
details.↩
UR10
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