5.3 Safety-related Electrical Interfaces
Safety Output Description
System emergency stop Activated by an active Robot emergency stop input or by
the Emergency stop button.
Robot moving While this signal is inactive, no single joint of the robot
arm moves more than 0.1 rad.
Robot not stopping Inactive when the robot arm has been requested to stop
and has not stopped yet.
Reduced mode Active when the safety system is in Reduced mode.
Not reduced mode The Reduced mode output negated.
If a safety output is not set properly, the safety system issues a category 0 stop, with
the following worst-case reaction times:
Safety Output Worst Case Reaction Time
System emergency stop 1100 ms
Robot moving 1100 ms
Robot not stopping 1100 ms
Reduced mode 1100 ms
Not reduced mode 1100 ms
UR5/CB3 I-44 Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
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