Universal Robots E Series Original Instructions Manual page 54

Configurable Inputs
24V 24V
CI0 CI4
24V 24V
CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
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 applications where the operator cannot go through
the door and close it behind him. The configurable I/O is used to setup a reset button
outside the door to reactivate robot motion.
Another example where automatic resume is appropriate is when using a safety mat or a
safety-related laser scanner (see below).
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
UR5e
Configurable Outputs
0V 0V
A B
CO0 CO4
0V 0V
CO1 CO5
0V 0V
CO2 CO6
0V 0V
CO3 CO7
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
24V 0V
Configurable Inputs
24V 24V
CI0 CI4
24V 24V
CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
40
6. Electrical Interface
Configurable Outputs
0V 0V
CO0 CO4
0V 0V
CO1 CO5
0V 0V
CO2 CO6
0V 0V
CO3 CO7
24V
0V
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