5.3 Safety-related Electrical Interfaces
WARNING:
Notice that limits for the joint position, the TCP position, and the TCP
orientation are disabled in Recovery Mode. Take caution when mov-
ing the robot arm back within the limits.
5.3 Safety-related Electrical Interfaces
The robot is equipped with several safety-related electrical inputs and outputs. All
safety-related electrical inputs and outputs are dual channel. They are safe when low,
e.g. the emergency stop is not active when the signal is high (+24V).
5.3.1 Safety-related Electrical Inputs
The table below gives an overview of the safety-related electrical inputs.
Safety Input Description
Robot emergency stop Performs a category 1 stop, informing other machines us-
ing the System emergency stop output.
Emergency stop button Performs a category 1 stop, informing other machines us-
ing the System emergency stop output.
System emergency stop Performs a category 1 stop.
Safeguard stop Performs a category 2 stop.
Safeguard reset input Resumes the robot from a Safeguard stopped state, when an
edge on the Safeguard reset input occurs.
Reduced mode The safety system transitions to Reduced mode limits.
A category 1 and 2 stop decelerates the robot with drive power on, which enables the
robot to stop without deviating from its current path.
Monitoring of safety inputs Category 1 and 2 stops are monitored by the safety
system in the following way:
1. The safety system monitors that the braking initiates within 24 ms, see Figure 5.2.
2. If a joint is moving, its speed is monitored to never be higher than the speed ob-
tained by constantly decelerating from the maximum joint speed limit for Normal
mode to 0
rad
/s in 500 ms.
3. If a joint is at rest (joint speed is less than 0.2
rad
/s), it is monitored that it does not
move more than 0.05 rad from the position it had when the speed was measured
below 0.2
rad
/s.
Additionally, for a category 1 stop, the safety system monitors that after the robot arm
is at rest, the powering off is finalized within 600 ms. Furthermore, after a safeguard
stop input, the robot arm is only allowed to start moving again after a positive edge
UR5/CB3 I-42 Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
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