Emergency Stop Safeguard Stop
Robot stops moving Yes Yes
Program execution Pauses Pauses
Drive power Off On
Reset Manual Automatic or manual
Frequency of use Infrequent Every cycle to infrequent
Requires re-initialization Brake release only No
Stop Category (IEC60204-1) 1 2
Performance level of
monitoring function (ISO13849-1) PLd PLd
Use the configurable I/O to set up additional safety I/O functionality, e.g. Emergency Stop
Output. Configuring a set of configurable I/O for safety functions are done through the
GUI, (see partPart II PolyScope Manualon page97).
WARNING
1. Never connect safety signals to a PLC that is not a safety PLC with
the correct safety level. Failure to follow this warning could result in
serious injury or death as the safety functions could be overridden.
It is important to keep safety interface signals separated from the
normal I/O interface signals.
2. All safety-related I/O are constructed redundantly (two independent
channels). Keep the two channels separate so that a single fault
cannot lead to loss of the safety function.
3. Safety functions must be verified before putting the robot into
operation. Safety functions must be tested regularly.
4. The robot installation shall conform to these specifications. Failure
to do so could result in serious injury or death as the safety function
could be overridden.
OSSD Signals
All configured and permanent safety inputs are filtered to allow the use of OSSD safety
equipment with pulse lengths under 3ms. The safety input is sampled every millisecond
and the state of the input is determined by the most frequently seen input signal over the
last 7 milliseconds. OSSD pulses on the safety outputs are detailed in partPart II
PolyScope Manualon page97.
UR5e 38 User Manual
6.Electrical Interface
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
To Next Page
Loading...
Need help?
General
