5.3 Safety-related Electrical Interfaces
Max joint
speed in
normal
mode
[rad/s]
[s]
time
0.5240.024
Figure 5.2: The green area below the ramp is the allowed speeds for a joint during braking. At time 0 an
event (emergency stop or safeguard stop) is detected at the safety processor. Deceleration begins after 24 ms.
on the safeguard reset input occurs. If any of the above properties are not satisfied, the
safety system issues a category 0 stop.
A transition to Reduced mode triggered by the reduced mode input is monitored as
follows:
1. The safety system accepts both Normal and Reduced mode limit sets for 500 ms
after the reduced mode input is triggered.
2. After 500 ms, only the Reduced mode limits are in effect.
If any of the above properties are not satisfied, the safety system issues a category 0
stop.
A category 0 stop is performed by the safety system with the performance described in
the following table. The worst-case reaction time is the time to stop and to de-energize
(discharge to an electrical potential below 7.3 V) a robot running at full speed and
payload.
Worst Case
Safety Input Function Detection
Time
De-energizing
Time
Reaction Time
Robot emergency stop 250 ms 1000 ms 1250 ms
Emergency stop button 250 ms 1000 ms 1250 ms
System emergency stop 250 ms 1000 ms 1250 ms
Safeguard stop 250 ms 1000 ms 1250 ms
5.3.2 Safety-related Electrical Outputs
The table below gives an overview of the safety-related electrical outputs:
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
I-43 UR5/CB3
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