Universal Robots UR3/CB3, Original Instructions Manual, Page: 33 / 256

2.5 Safety-related Electrical Interfaces
Safety Output Description
System Emergency Stop Logic low when the Robot emergency stop input is logic low
or the Emergency stop button is pressed.
Robot Moving While this signal is logic high, no single joint of the robot
arm moves more than 0.1 rad.
Robot Not Stopping Logic high when the robot is stopped or in the process
of stopping due to an emergency stop or safeguard stop.
Otherwise it will be logic low.
Reduced Mode Logic low when the safety system is in Reduced mode.
Not Reduced Mode The Reduced mode output negated.
If a safety output is not set properly, the safety system issues a Stop Category 0, with the following
worst-case reaction times:
Safety Output Worst Case Reaction Time
System Emergency Stop 1100 ms
Robot Moving 1100 ms
Robot Not Stopping 1100 ms
Reduced Mode 1100 ms
Not Reduced Mode 1100 ms
Version 3.10
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I-19 UR3 / CB3