Universal Robots UR30 - Safety I;O

8.6. Safety I/O
Safety I/O This section describes dedicated safety input (Yellow terminal with red text) and configurable
I/O (Yellow terminals with black text) when configured as safety I/O.
Safety devices and equipment must be installed according to the safety instructions and the
risk assessment in chapterSafety.
All safety I/O are paired (redundant), so a single fault does not cause loss of the safety
function. However, the safety I/Omust be kept as two separate branches.
The permanent safety input types are:
•
Robot Emergency Stop for emergency stop equipment only
•
Safeguard Stop for protective devices
•
3PE Stop for protective devices
Table The functional difference is shown below.
Emergency
Stop
Safeguard Stop 3PE Stop
Robot stops moving Yes Yes Yes
Program execution Pauses Pauses Pauses
Drive power Off On On
Reset Manual
Automatic or
manual
Automatic or
manual
Frequency of use Infrequent
Every cycle to
infrequent
Every cycle to
infrequent
Requires re-initialization
Brake release
only
No No
Stop Category (IEC60204-1) 1 2 2
Performance level of monitoring
function (ISO13849-1)
PLd PLd PLd
Safety
caution
Use the configurable I/O to set up additional safety I/O functionality, e.g. Emergency Stop
Output. Use the PolyScope interface to define a set of configurable I/O for safety functions.
CAUTION
Failure to verify and test the safety functions regularly can lead to
hazardous situations.
•
Safety functions shall be verified before putting the robot into
operation.
•
Safety functions shall be tested regularly.
User Manual 76 UR30
8.Installation
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