Safety-Related Electrical Outputs - Universal Robots UR5/CB3 Original Instructions Manual

Max joint
speed in
normal
mode
Figure 2.2: The green area below the ramp is the allowed speeds for a joint during braking. At time 0 an
event (emergency stop or safeguard stop) is detected at the safety processor. Deceleration begins after
24 ms.
A transition to Reduced mode triggered by the reduced mode input is monitored as follows:
1. The safety system accepts both Normal and Reduced mode limit sets for 500 ms after the
reduced mode input is triggered.
2. After 500 ms, only the Reduced mode limits are in effect.
If any of the above properties are not satisfied, the safety system issues a Stop Category 0.
A Stop Category 0 is performed by the safety system with the performance described in the
following table. The worst-case reaction time is the time to stop and to de-energize (discharge to
an electrical potential below 7.3 V) a robot running at full speed and payload.
Safety Input Function
Robot Emergency Stop
Emergency Stop Button
System Emergency Stop
Safeguard Stop

2.5.2 Safety-related Electrical Outputs

The table below gives an overview of the safety-related electrical outputs:
Safety Output
System Emergency Stop
Robot Moving
Robot Not Stopping
Reduced Mode
Not Reduced Mode
UR5/e-Series
[rad/s]
0.024
Detection
Time
250 ms
250 ms
250 ms
250 ms
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 pro-
cess 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.
I-16
2.5 Safety-related Electrical Interfaces
time
0.524 [s]
Worst Case
De-energizing Reaction
Time Time
1000 ms 1250 ms
1000 ms 1250 ms
1000 ms 1250 ms
1000 ms 1250 ms
Version 3.11