Universal Robots UR10e PolyScope X User Manual page 61

8. Installation
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.
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.
User Manual
•
Configurable input pair: External Emergency Stop.
•
Configurable output pair: System Stop.
Configurable Inputs
24V
CI0
24V
CI1
24V
CI2
24V
CI3
WARNING
Do not use this configuration if signal can be re-established from the
inside of the safety perimeter.
Safety
Configurable Outputs Configurable Inputs
24V 0V 0V A B 24V
CI4 CO0 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.
63
Configurable Outputs
24V 0V 0V
CI4 CO0 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