Universal Robots UR5/CB3 Original Instructions Manual page 45

5.3 Controller I/O
If more than two UR robots or other machines need to be connected, a safety PLC is needed to
control the emergency stop signals.
5.3.2.4 Safeguard stop with automatic resume
An example of a basic safeguard stop device is a door switch where the robot is stopped when
a door is opened, see illustration below.
This configuration is only intended for application where the operator cannot pass the door and
close it behind him. The configurable I/O can be used to setup a reset button outside the door,
to reactivate robot motion.
Another example where automatic resume can be appropriate is when using a safety mat or a
safety-related laser scanner, see below.
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
5.3.2.5 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.
Version 3.11
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
24V 0V
DANGER:
1. The robot resumes movement automatically when the safe-
guard signal is re-established. Do not use this configuration
if signal can be re-established from the inside of the safety
perimeter.
I-33
24V
0V
UR5/e-Series