Universal Robots UR10e PolyScope X User Manual page 57

4. Electrical Interface
Sharing the
Emergency Stop
with other
machines
Safeguard stop
with automatic
resume
User Manual
You can set up a shared emergency stop function between the robot and other
machines by configuring the following I/O functions via the GUI. The Robot Emergency
Stop Input cannot be used for sharing purposes. If more than two UR robots or other
machines need to be connected, a safety PLC must be used to control the emergency
stop signals.
•
Configurable input pair: External emergency stop.
•
Configurable output pair: System emergency stop.
The illustration below shows how two UR robots share their emergency stop functions.
In this example the configured I/Os used are CI0-CI1 and CO0-CO1.
Configurable Inputs
24V
CI0
24V
CI1
24V
CI2
24V
CI3
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. The robot resumes movement
automatically when the signal is re-established.
WARNING
Do not use this configuration if signal can be re-established from the
inside of the safety perimeter.
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
In this example a door switch is a
basic safeguard device where the
robot is stopped when the door is
opened.
Configurable Outputs
Configurable Inputs
24V 0V 0V A B 24V
CO0
CI4 CO4 CI0
24V 0V 0V 24V
CI5 CO1 CO5 CI1
24V 0V 0V 24V
CI6 CO2 CO6 CI2
24V 0V 0V 24V
CI7 CO3 CO7 CI3
Safety
24V
EI0
24V
EI1
24V
SI0
24V
SI1
In this example a safety mat is a safety device
where automatic resume is appropriate. This
example is also valid for a safety laser scanner.
57
Configurable Outputs
24V 0V 0V
CO0
CI4 CO4
24V 0V 0V
CI5 CO1 CO5
24V 0V 0V
CI6 CO2 CO6
24V 0V 0V
CI7 CO3 CO7
24V 0V
UR10e PolyScope X
24V
0V