15.12 Safety I/O
15.12 Safety I/O
This screen defines the Safety functions for configurable inputs and outputs (I/Os).
The I/Os are divided between the inputs and outputs, and are paired up so that each
function is providing a Category 3 and PLd I/O.
Each Safety function can only control one pair of I/Os. Trying to select the same safety
function a second time removes it from the first pair of I/Os previously defined. There
are 3 Safety functions for input signals, and 4 for output signals.
Input Signals For input signals, the following Safety functions can be selected:
• Emergency Stop: When selected, this allows the option of having an alterna-
tive Emergency Stop button in inclusion of the one that is on the Teach Pen-
dant. This will provide the same functionality that the Emergency Stop button
provides on the Teach Pendant when a device complying with ISO 13850:2006 is
attached.
• Reduced Mode: All safety limits have two modes in which they can be applied:
Normal mode, which specifies the default safety configuration, and Reduced mode
(see 15.5 for more details). When this input safety function is selected, a low
signal given to the inputs causes the safety system to transition to Reduced mode.
If necessary, the robot arm then decelerates to satisfy the Reduced mode limit set.
Should the robot arm still violate any of the Reduced mode limits, it performs a
CB3 II-110 Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
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