Universal Robots E Series Original Instructions Manual page 52

Robot stops moving
Program execution
Drive power
Reset
Frequency of use
Requires re-initialization
Stop Category (IEC 60204-1)
Performance level of
monitoring function (ISO 13849-1)
Use the configurable I/O to set up additional safety I/O functionality, e.g. Emergency Stop
Output. Configuring a set of configurable I/O for safety functions are done through the
GUI, (see part Part II PolyScope Manual on
WARNING
1. Never connect safety signals to a PLC that is not a safety PLC with
2. All safety-related I/O are constructed redundantly (two independent
3. Safety functions must be verified before putting the robot into
4. The robot installation shall conform to these specifications. Failure
OSSD Signals
All configured and permanent safety inputs are filtered to allow the use of OSSD safety
equipment with pulse lengths under 3ms. The safety input is sampled every millisecond
and the state of the input is determined by the most frequently seen input signal over the
last 7 milliseconds. OSSD pulses on the safety outputs are detailed in
PolyScope Manual on
UR5e
the correct safety level. Failure to follow this warning could result in
serious injury or death as the safety functions could be overridden.
It is important to keep safety interface signals separated from the
normal I/O interface signals.
channels). Keep the two channels separate so that a single fault
cannot lead to loss of the safety function.
operation. Safety functions must be tested regularly.
to do so could result in serious injury or death as the safety function
could be overridden.
page 97.
Emergency Stop
Yes
Pauses
Off
Manual
Infrequent
Brake release only
1
PLd
page 97).
38
6. Electrical Interface
Safeguard Stop
Yes
Pauses
On
Automatic or manual
Every cycle to infrequent
No
2
PLd
part Part II
User Manual