Universal Robots UR16e

WARNING
Do not use this configuration if signal can be re-established from the inside of the
safety perimeter.
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
24V 0V
24V
0V
This example illustrates a door switch is a basic
safeguard device where the robot is stopped
when the door is opened.
This example illustrates a safety mat is a safety
device where automatic resume is appropriate.
This example is also valid for a safety laser
scanner.
Safeguard Stop with reset button
If the safeguard interface is used to interact with 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
NOTICE
The Universal Robots e-Series safety system does not support multiple external
Three-Position Enabling Devices.
The two input channels for the Three-Position Enabling Device input have a disagreement tolerance
of 1 second.
The illustration below shows how to connect a Three-Position Enabling Device. See sectionThree-
Position Enabling Deviceon page129 for more about Three-Position Enabling Device.
User Manual 43 UR16e
2.Part I Hardware Installation Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.