5.3 Controller I/O
If more than two UR robots or other machines need to be connected, a safety PLC is needed to
control the emergency stop signals.
5.3.2.4 Safeguard stop with automatic resume
An example of a basic safeguard stop device is a door switch where the robot is stopped when
a door is opened, see illustration below.
24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
This configuration is only intended for application where the operator cannot pass the door and
close it behind him. The configurable I/O can be used to setup a reset button outside the door,
to reactivate robot motion.
Another example where automatic resume can be appropriate is when using a safety mat or a
safety-related laser scanner, see below.
24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
24V 0V
24V
0V
DANGER:
1. The robot resumes movement automatically when the safe-
guard signal is re-established. Do not use this configuration
if signal can be re-established from the inside of the safety
perimeter.
5.3.2.5 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.
Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
I-33 UR5/e-Series
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