5.3 Controller I/O
24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
24V 0V
24V
0V
DANGER:
1. The robot resumes movement automatically when the safe-
guard signal is re-established. Do not use this configuration if
signal can be re-established from the inside of the safety perime-
ter.
5.3.2.5 Safeguard stop with reset button
If the safeguard interface is used to interface a light curtain, a reset outside the safety perimeter is
required. The reset button must be a two channel type. In this example the I/O configured for reset
is “CI0-CI1”, see below.
24V
EI1
24V
SI0
24V
SI1
24V
EI0
Safety
Safeguard Stop
Emergency Stop
24V 0V
24V
0V
24V
CI1
24V
CI2
24V
CI3
24V
CI0
Configurable Inputs
24V
CI5
24V
CI6
24V
CI7
24V
CI4
5.3.2.6 Three-Position Enabling Device
The illustration below shows how to connect a Three-Position Enabling Device. See section 10.13.1
for more about Three-Position Enabling Device.
UR3/CB3 I-36 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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