Universal Robots UR10/CB3, User Manual

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1.6.5. Safety-related Electrical Interfaces
The robot is equipped with several safety-related electrical inputs and outputs. All safety-related
electrical inputs and outputs are dual channel. They are safe when low, e.g. the emergency stop
is not active when the signals are high (+24V).
Safety-related Electrical Inputs
The table below gives an overview of the safety-related electrical inputs.
Safety Input Description
Robot
Emergency
Stop
(Dedicated Input). Performs a Stop Category 1, which can be forwarded to other
machines using the
System emergency stop output when configured.
Emergency
Stop Button (Teach Pendant Button). Performs a Stop Category 1, which can be forwarded
to other machines using the
System emergency stop output when configured.
System
Emergency
Stop (Configurable Input). Performs a Stop Category 1. To avoid deadlocks, this
signal will not be forwarded to other machines through the
System emergency
stop output.
Safeguard
Stop
(Dedicated Input). Performs a Stop Category 2.
Safeguard
Reset (Configurable Input). Resumes the robot from a Safeguard stopped state, when
an edge on the Safeguard reset input occurs.
Reduced
Mode
(Configurable Input). The safety system transitions to Reduced mode limits.
Three-
Position
Enabling
Device
(Configurable Input). Functions as a safeguard stop input when the operational
mode input is high.
Operational
Mode (Configurable Input). Operational mode to use when a Three-position enabling
device is configured.
A Stop Category 1 and a Stop Category 2 decelerates the robot with drive power on, which
enables the robot to stop without deviating from its current path.
User Manual 17 UR10
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