Universal Robots UR10/CB3 User Manual

Emergency Stop Button 250ms 1000ms 1250ms
System Emergency Stop 250ms 1000ms 1250ms
Safeguard Stop 250ms 1000ms 1250ms
Safety-related Electrical Outputs
The table below gives an overview of the safety-related electrical outputs:
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
1. Stop Categories are according to IEC60204-1, see Glossary for more details.↩
User Manual 19 UR10
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Universal Robots UR10/CB3 Specifications

General

Brand	Universal Robots
Model	UR10/CB3
Category	Robotics
Language	English