10.13 Safety I/O
mode is Running. In order to switch to Programming mode, choose the “Program Robot” button
on the Welcome screen. To switch back to Running mode, simply exit the “Program Robot”
screen.
NOTE:
• After the Safety I/O configuration with Three-Position
Enabling Device enabled is confirmed, the Welcome screen
is automatically shown. The Welcome screen is also automati-
cally displayed when the operational mode changes from Pro-
gramming to Running.
• The physical mode selector, if used, must completely adhere to
ISO 10218-1: article 5.7.1 for selection.
• The 3-position switch, along with its behavior, performance
characteristics and operation, must thoroughly comply with
ISO 10218-1: article 5.8.3 for an enabling device.
10.13.2 Output Signals
For the output signals the following Safety functions can be applied. All signals return to low when
the state which triggered the high signal has ended:
System Emergency Stop Low signal is only given when the safety system has been triggered
into an Emergency Stopped state by the Robot Emergency Stop input or Emergency Stop Button.
To avoid deadlocks, if the Emergency Stopped state is triggered by the System Emergency Stop
input, low signal will not be given.
NOTE:
External machinery obtaining the Emergency Stop state from the
robot through System Emergency Stop output must be comply-
ing with ISO 13850. This is particularly necessary in setups where
the Robot Emergency Stop input is connected to an external Emer-
gency Stop device. In such cases, the System Emergency Stop
output will become high when the external Emergency Stop device
is released. This implies that the emergency stop state at the exter-
nal machinery will be reset with no manual action needed from the
robot’s operator. Hence, to comply with safety standards, the exter-
nal machinery must require manual action in order to resume.
Robot Moving A low signal is given whenever the robot arm is in a mobile state. When the
robot arm is in a fixed position, a high signal is given.
CB3 II-22 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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