Universal Robots UR10/CB3, Руководство пользователя

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1.20.13. Safety I/O
This screen defines the Safety functions for configurable inputs and outputs (I/Os). The I/Os are
divided between the inputs and outputs, and are paired up so that each function is providing a
Category
1
3 and PLd I/O.
Each Safety function can only control one pair of I/Os. Trying to select the same safety function
a second time removes it from the first pair of I/Os previously defined. There are 5 Safety
functions for input signals, and 5 for output signals.
Note: Applying a safety function to a set of pins will override any I/O actions specified for pins in
the I/O Setup (see
1.23.8. Installation
→
I/O Setup on page 132 ).
Input Signals
For input signals, the following Safety functions can be selected:
System Emergency Stop
,
Reduced Mode
,
Safeguard Reset
,
Three-Position Enabling Device
and
Operational Mode
.
System Emergency Stop
When configured, it allows for having an additional
Emergency Stop
button besides the
Emergency Stop Button
on the Teach Pendant. This functionality requires the use of an
ISO 13850-compliant device.
UR10 104 User Manual
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