Emergency Stop; Safeguard Stop; Immi Safety Functions - Universal Robots e Series Installation Manual

2. Safety
NOTICE
Failure to connect the ground (GND) wire during installation can result in equipment
damage.
• Connect the ground cable to the control box before connecting the ribbon
cable.

2.3.1. Emergency Stop

The robot and the IMM send Emergency Stop safety signals to each other through the IMMI. When a
UR emergency stop is triggered, both the robot stops and the IMMI signals a stop to the IMM.
WARNING
Ensure all Emergency Stops halt the entire application before operating the
application.

2.3.2. Safeguard Stop

When the UR robot Safeguard Stop is triggered by the IMM, the robot stops.
WARNING
Reaching into the IMM workspace can lead to serious personnel injury.
• Integrate safeguarding to protect personnel without reliance on the non-safety
signals of the IMMI.

2.4. IMMI safety functions

This section contains information about the safety functions supported by the IMMI. Below describes
the UR IMMI safety outputs. Consult with the IMM manufacturerer for functional safety details of the
IMM.
These safety functions are in accordance with ISO 13849-1 and the connector pin assignments of
EUROMAP 67 / SPI AN-146.
UR Safety function Cat./PL
Emergency stop
Installation Guide
3/d
PFHd
2.33E-7
e-Series Injection Molding Machine
5
Interface (IMMI)