5.3 Controller I/O
5.3.2 Safety I/O
This section describes the dedicated safety inputs (Yellow terminal with red text)
and the configurable I/O (Yellow terminals with black text) when configured as
safety I/O. The common specifications in section 5.3.1 must be observed.
Safety devices and equipment must be installed according to the safety instructions
and the risk assessment, see chapter 1.
All safety I/O are pairwise (redundant) and must be kept as two separate branches.
A single fault shall not cause loss of the safety function.
The two permanent safety inputs are the Robot Emergency Stop and the Safeguard
Stop. The Robot Emergency Stop input is for emergency stop equipment only. The
Safeguard Stop input is for all kinds of safety-related protective equipment. The
functional difference is shown below.
Emergency Stop Safeguard Stop
Robot stops moving Yes Yes
Program execution Stops Pauses
Robot power Off On
Reset Manual Automatic or manual
Frequency of use Infrequent Every cycle to infrequent
Requires re-initialization Brake release only No
Stop Category (IEC 60204-1) 1 2
Performance level of
monitoring function (ISO 13849-1) PLd PLd
It is possible to use the configurable I/O to set up additional safety I/O function-
ality, e.g. emergency stop output. Configuring a set of configurable I/O for safety
functions are done through the GUI, see part II.
Some examples of how to use safety I/O are shown in the following subsections.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
I-31 UR5/CB3
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