Universal Robots UR16e

24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
Connecting emergency stop buttons
Most applications require one or more extra emergency stop buttons. The illustration below shows
how one or more emergency stop buttons can be connected.
24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
Sharing the Emergency Stop with other machines
You can set up a shared emergency stop function between the robot and other machines by
configuring the following I/O functions via the GUI. The Robot Emergency Stop Input cannot be used
for sharing purposes. If more than two UR robots or other machines need to be connected, a safety
PLC must be used to control the emergency stop signals.
•
Configurable input pair: External emergency stop.
•
Configurable output pair: System emergency stop.
The illustration below shows how two UR robots share their emergency stop functions. In this
example the configured I/Os used are CI0-CI1 and CO0-CO1.
24V
CI1
24V
CI2
24V
CI3
24V
CI0
Configurable Inputs
24V
CI5
24V
CI6
24V
CI7
24V
CI4
0V
CO1
0V
CO2
0V
CO3
0V
CO0
Configurable Outputs
0V
CO5
0V
CO6
0V
CO7
0V
CO4
24V
CI1
24V
CI2
24V
CI3
24V
CI0
Configurable Inputs
24V
CI5
24V
CI6
24V
CI7
24V
CI4
0V
CO1
0V
CO2
0V
CO3
0V
CO0
Configurable Outputs
0V
CO5
0V
CO6
0V
CO7
0V
CO4
A
B
Safeguard stop with automatic resume
This configuration is only intended for applications where the operator cannot go through the door
and close it behind him. The configurable I/O is used to setup a reset button outside the door to
reactivate robot motion. The robot resumes movement automatically when the signal is re-
established.
UR16e 42 User Manual
2.Part I Hardware Installation Manual
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