Universal Robots UR10/CB3 User Manual page 44

Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
WARNING
1. The robot resumes movement automatically when the safeguard signal is
re-established. Do not use this configuration if signal can be re-established
from the inside of the safety perimeter.
Safeguard stop with reset button
If the safeguard interface is used to interface a light curtain, a reset outside the safety perimeter
is required. The reset button must be a two channel type. In this example the I/O configured for
reset is "CI0-CI1", see below.
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
Three-Position Enabling Device
The illustration below shows how to connect a Three-Position Enabling Device. See
section Three-Position Enabling Device and Operational Mode on page 105
Position Enabling Device.
UR10
24V 0V
Configurable7Inputs
24V
24V 24V
CI0 CI4
24V 24V
CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
0V
36
24V
0V
24V
0V
for more about Three-
User Manual