2.5 Safety-related Electrical Interfaces
Safety Output Description
System emergency stop Logic low when the Robot emergency stop input is logic
low or the Emergency stop button is pressed.
Robot moving While this signal is logic high, no single joint of the
robot arm moves more than 0.1 rad.
Robot not stopping Logic high when the robot is stopped or in the pro-
cess of stopping due to an emergency stop or safeguard
stop. Otherwise it will be logic low.
Reduced mode Logic low 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 Stop Category 0,
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
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
I-17 UR5/CB3
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