Universal Robots UR16e PolyScope X User Manual page 62

Sharing the You can set up a shared emergency stop function between the robot and other machines
Emergency by configuring the following I/O functions via the GUI. The Robot Emergency Stop Input
Stop with other cannot be used for sharing purposes. If more than two UR robots or other machines need
machines to be connected, a safety PLC must be used to control the emergency stop signals.
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.
Safeguard This configuration is only intended for applications where the operator cannot go through
stop with the door and close it behind him. The configurable I/O is used to setup a reset button
automatic outside the door to reactivate robot motion. The robot resumes movement automatically
resume when the signal is re-established.
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.
UR16e PolyScope X
•
Configurable input pair: External Emergency Stop.
•
Configurable output pair: System Stop.
Configurable Inputs
24V 24V
CI0 CI4
24V 24V
CI1 CI5
24V 24V
CI2 CI6
24V 24V
CI3 CI7
WARNING
Do not use this configuration if signal can be re-established from the
inside of the safety perimeter.
Configurable Outputs Configurable Inputs
0V 0V A B 24V 24V
CO0 CO4 CI0 CI4
0V 0V 24V 24V
CO1 CO5 CI1 CI5
0V 0V 24V 24V
CO2 CO6 CI2 CI6
0V 0V 24V 24V
CO3 CO7 CI3 CI7
Safety
24V 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.
64
8. Installation
Configurable Outputs
0V 0V
CO0 CO4
0V 0V
CO1 CO5
0V 0V
CO2 CO6
0V 0V
CO3 CO7
0V
24V
0V
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