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5.3 Controller I/O
Safety devices and equipment must be installed according to the safety instructions and the risk
assessment (see chapter 1).
All safety I/O are pairwise (redundant) and must be kept as two separate branches. A single
fault shall not cause loss of the safety function.
The two permanent safety inputs are the Robot Emergency Stop and the Safeguard Stop.
The Robot Emergency Stop input is for emergency stop equipment only. The Safeguard Stop
input is for all kinds of safety-related protective equipment. The functional difference is shown
below.
Robot stops moving
Program execution
Robot power
Reset
Frequency of use
Requires
initialization
Stop
(IEC 60204-1)
Performance level of
monitoring
(ISO 13849-1)
It is possible to use the configurable I/O to set up additional safety I/O functionality, e.g. emer-
gency stop output. Configuring a set of configurable I/O for safety functions are done through
the GUI, see part II.
Some examples of how to use safety I/O are shown in the following subsections.
Version 3.11
Emergency Stop
re-
Brake release only
Category
function
DANGER:
1. Never connect safety signals to a PLC which is not a safety
PLC with the correct safety level. Failure to follow this warn-
ing could result in serious injury or death as the safety func-
tions could be overridden. It is important to keep safety inter-
face signals separated from the normal I/O interface signals.
2. All safety-related I/O are constructed redundantly (Two in-
dependent channels). Keep the two channels separate so that
a single fault cannot lead to loss of the safety function.
3. Safety functions must be verified before putting the robot into
operation. Safety functions must be tested regularly.
4. The robot installation shall conform to these specifications.
Failure to do so could result in serious injury or death as the
safety function could be overridden.
Safeguard Stop
Yes
Stops
Off
Manual
Automatic or manual
Infrequent
Every cycle to infrequent
1
PLd
I-31
Yes
Pauses
On
No
2
PLd
UR5/e-Series
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