Universal Robots UR30 - Page 77

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 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.
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
In this example a door switch is a basic
safeguard device where the robot is
stopped when the door is opened.
In this example a safety mat is a safety device
where automatic resume is appropriate. This
example is also valid for a safety laser scanner.
User Manual 78 UR30
8.Installation
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