Universal Robots E Series Original Instructions Manual page 55

6. Electrical Interface
WARNING
1. The robot resumes movement automatically when the signal is re-
Safeguard Stop with reset button
If the safeguard interface is used to interact with 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).
Three-Position Enabling Device
The illustration below shows how to connect a Three-Position Enabling Device. See
section 20. Operational Mode Selection on page 115
Enabling Device.
NOTE
The Universal Robots safety system does not support multiple external
Three-Position Enabling Devices.
NOTE
The two input channels for the Three-Position Enabling Device input have
a disagreement tolerance of 1 second.
User Manual
established. Do not use this configuration if signal can be re-
established from the inside of the safety perimeter.
Safety Configurable7Inputs
24V 24V 24V
EI0 CI0 CI4
24V 24V 24V
EI1 CI1 CI5
24V 24V 24V
SI0 CI2 CI6
24V 24V 24V
SI1 CI3 CI7
Configurable Inputs
24V 24V
CI0 CI4
24V 24V
CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
24V 0V
for more about Three-Position
3-Position Switch
41
24V
0V
UR5e