24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
24V 0V
24V
0V
WARNING
1. The robot resumes movement automatically when the safeguard signal is
re-established. Do not use this configuration if signal can be re-established
from the inside of the safety perimeter.
Safeguard stop with reset button
If the safeguard interface is used to interface a light curtain, a reset outside the safety perimeter
is required. The reset button must be a two channel type. In this example the I/O configured for
reset is “CI0-CI1”, see below.
24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
24V 0V
24V
0V
24V
CI1
24V
CI2
24V
CI3
24V
CI0
Configurable Inputs
24V
CI5
24V
CI6
24V
CI7
24V
CI4
Three-Position Enabling Device
The illustration below shows how to connect a Three-Position Enabling Device. See
sectionThree-Position Enabling Device and Operational Mode on page105 for more about Three-
Position Enabling Device.
UR10 36 User Manual
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